Center for Systems and Control,College of Engineering,Peking University,Beijing 100871,China

Center for Multi-Agent Research,Institute for Artificial Intelligence,Peking University,Beijing 100871,China

Department of Mathematics,Dartmouth College,Hanover NH 03755,USA

Department of Biomedical Data Science,Geisel School of Medicine at Dartmouth,Lebanon NH 03756,USA

School of Science,Beijing University of Posts and Telecommunications,Beijing 100876,China