1- School of Mathematics and Statistics, Xi'an Jiaotong University, Xi'an 710049
2- School of Science, Chang'an University, Xi'an 710064
3- School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710021
The National Basic Research Program of China, 973 Program (2013CB329406); the Major Research Project of the National Natural Science Foundation of China (91230101); the National Natural Science Foundation of China (11201367); the Fundamental Research Funds for the Central Universities of China (xjj2011048).