School of Information and Electronics,Beijing Institute of Technology,Beijing 100081,China

School of Science,Dalian Minzu University,Dalian 116600,China

Key Laboratory for Management and Control of Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China

Department of Civil and Environmental Engineer-ing,University of California,Los Angeles,CA 90024 USA

State Key Laboratory for Management and Control of Complex Systems,Chinese Academy of Sciences,Beijing 100190,Faculty of Innovation Engineering,Macau University of Science and Technology,Macau 999078,China