Article

Transactions of the Institute of

Measurement and Control
Position control for permanent magnet 1–9
Ó The Author(s) 2020

synchronous motor based on neural Article reuse guidelines:

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DOI: 10.1177/0142331219893799
network and terminal sliding mode journals.sagepub.com/home/tim

control

Wenwu Zhu1,2 , Dongbo Chen3, Haibo Du3 and Xiangyu Wang1,2

Abstract
A finite-time control strategy is proposed to solve the problem of position tracking control for a permanent magnet synchronous motor servo system.
It can guarantee that the motor’s desired position can be tracked in a finite time. Firstly, for the d-axis voltage, a first-order finite-time controller is
designed based on the vector control principle. Then, for the q-axis voltage, based on a radial basis function (RBF) neural network, an integral high-
order terminal sliding mode controller is designed. Theoretical analysis shows that under the proposed controller, the desired position can be tracked
by the motor position in a finite time. Simulation results are given to show that the proposed control method has a strong anti-disturbance ability and a
fast convergence performance.

Keywords
Terminal sliding mode control, permanent magnet synchronous motor, RBF neural network

Introduction PMSMs. In Liu and Li (2012), a composite control method

As a key actuator in many critical infrastructures, such as sup-
ply chains, robots, intelligent manufacturing, smart grid, net-
works, advanced servo control systems play a more and more
important role, which decides the product’s performance and
quality (El-Sousy, 2010; Huang et al., 2019; Iqbal and Singh,
2018; Li and Liu, 2009; Liu and Li, 2012; Sun et al., 2019;
Wang and Li et al., 2016). As the core of the servo drive sys-
tem, the study of motor control technology has become a hot
topic in the area of mechatronics (Ding et al., 2019; Du et al.,
2018; Errouissi et al., 2012). Since permanent magnet synchro-
nous motor (PMSM) has many advantages, such as high
power density, high efficiency, high reliability and simple
structure and the decreasing of the price of permanent magnet
materials in recent years, it has become more and more widely
used in various industrial fields (Frijet et al., 2018; Li and Gu,
2012). However, from the control viewpoint, the PMSM is a
typical nonlinear system with strong coupling and multiple
variate. The main obstacle/challenge to obtain a high perfor-
mance of control system includes current coupling, system
saturation, parameter perturbations and external disturbances,
and so forth. How to improve the system’s control perfor-
mance based on nonlinear control methods has attracted a
great attention in recent years.
In Li and Gu (2012), the indirect adaptive neural control-
lers was designed to suppress chaos in the PMSM and guar-
antee that the position tracking error converges to a small
neighborhood of the origin. In Errouissi et al. (2012), the
authors proposed a robust nonlinear predictive controller for
which combines model reference adaptive control (MRAC)
method and disturbance estimation method was designed.
Considering the variations of inertia in real applications, Li
and Zhou et al. (2013) proposed a terminal sliding mode con-
trol scheme for the PMSM speed-regulation system.
However, the most of proposed control algorithms for the
motor servo system only guarantee that the closed-loop sys-
tems are asymptotically stable, that is to say that the motor
position signal converges to the desired signal asymptotically.
From the convergence point of view, it is hoped that the posi-
tion signal can converge to the reference position signal in a
finite time in the practical applications. In the past few years,
as a new nonlinear control method (Bhat and Bernstein, 2000,
2005), the finite time control method has been introduced and
developed, which guarantees the state of the closed-loop sys-
tem converges to the equilibrium point in a finite time (Cheng
et al., 2019; Du et al., 2019a; Du et al., 2019b; Li and Wang
2013; Li et al., 2019; Wang et al., 2014, 2017; Wu et al., 2019).
1
School of Automation, Southeast University, Nanjing, PR China
2
Key Laboratory of Measurement and Control of of Complex Systems of
Engineering, Ministry of Education, China
3
School of Electrical Engineering and Automation, Hefei University of
Technology, PR China
Corresponding author:
Xiangyu Wang, School of Automation, Southeast University, No. 2, Si Pai
Lou, Xuanwu District, Nanjing, Jiangsu 210096, PR China.
Email: w.x.y@seu.edu.cn
2 Transactions of the Institute of Measurement and Control 00(0)

Motivated by the above reasons, the work (Liu and Wang Under the above assumptions, the popular PMSM
et al., 2010) employed the adding fractional power technique model in d-q coordinates is given as follows (Li and Liu,
to design a finite-time control algorithm for position tracking 2009; Li and Zhou et al., 2013)
of PMSM. In recent work (Chen et al., 2017a), an integral ter-
minal sliding mode method was employed to achieve the posi- R s id ud
i_d = + np viq + ,
tion tracking control of PMSM. Ld Ld
Neural network is an important method to handle the con- Rs iq np uf v uq
i_q = np vid   + ,
trol problems in the presence of nonlinearity, uncertainty and Lq Lq Lq ð1Þ
so on (Frijet et al., 2018; Jon et al., 2017; Qi et al., 2018; Shen 3np uf iq Bv Tl
et al., 2019; Wang et al., 2015), because the neural network v_ =   ,
2J J J
can approximate the complex nonlinear function and has
u_ = v,
good adaptive ability (Wang and Wang, 2016). In recent
years, the neural network has been widely investigated, which where ud , uq are the stator winding’s d-axis voltage and q-axis
provides a theoretical support for the application of neural voltage, and id , iq are the stator winding’s d-axis current and
networks (Chen and Ren et al., 2017; Lin and Lin, 2001; q-axis current. Ld is the stator winding’s d-axis inductance
Wang et al., 2015; Yu et al., 2012). The main contribution of and Lq is the stator winding’s q-axis inductance, let
this paper is to develop a neural network-based terminal slid- L = Ld = Lq in this paper. Rs is stator resistance, uf is the
ing mode control method to solve the finite-time position magnetic potential and np is the pole pairs, J is the moment
control problem for the PMSM. The novelty of the proposed of inertia, B is the vicious coefficient, Tl is load torque, u is
approach lies in that: (i) terminal sliding mode control is the angle of motor, v is the mechanical angular velocity.
employed here to accelerate the convergence process and
ensure that the position of PMSM tracks reference signal in a
finite time. (ii) an radial basis function (RBF) neural network Some useful definitions and lemmas
is constructed to estimate uncertain information/unmodeled
Notation. Denote function siga (x) = sign(x)jxja , where
dynamics in practice. The difficulties in the design of control-
a . 0, x 2 R, sign() is a standard signum function.
ler lie in how to deal with parameters uncertainties while
maintaining the finite-time stability. Lemma 1. (Bhat and Bernstein, 2005) Let k1 ,    , kn be cho-
In this paper, a new nonlinear control method, that is, the sen such that the polynomial sn + kn sn1 +    + k1 = 0 is
finite-time control method, is employed to design position Hurwitz, and consider the following integrator system
tracking controller for the PMSM servo system. Firstly, based
on the principle of vector control, the position control system x_ 1 = x2 , x_ 2 = x3 ,    , x_ n = u, ð2Þ
of the servo motor is decomposed into two subsystems, that
are a first-order subsystem and a three-order subsystem. In with xi , u 2 R. There exists e 2 (0, 1) such that, for every
order to solve the finite-time control problem of the three- a 2 (1  e, 1), the origin is a globally finite-time stable equili-
order subsystem, an integral high-order terminal sliding mode brium for the system under the feedback control law
controller is designed based on sliding mode control theory.
At the same time, because of the uncertainties of the system u = k1 siga1 (x1 )  k2 siga2 (x2 )      kn sigan (xn ), ð3Þ
parameters and the unavailable external disturbance torque, ai ai + 1
where ai1 = , i = 2, 3,    , n with an = a,
the RBF neural network algorithm is employed to estimate 2ai + 1  ai
an + 1 = 1.
the uncertainties of the system. Under the designed controller,
it is shown that the reference position signal can be tracked Lemma 2. (Bhat and Bernstein, 2000) Consider the following
by the motor’s position signal in a finite time. The simulation nonlinear system: x_ = f (x), f (0) = 0, x 2 Rn . Suppose there
results are given to show that the designed position servo con- exists a positive definite continuous function V (x) such that
trol system has a better disturbance rejection ability. V_ (x) + cV a (x) ł 0, x 2 U0 nf0g, where c . 0 and a 2 (0, 1).
Then V (x) approaches 0 in a finite time. In addition, the finite
V 1a (x(0))
convergence time T satisfies that T ł c(1a) .
System model description and
preliminaries
Design of finite-time controllers
Mathematical model of PMSM
In order to facilitate the theoretical analysis, the following
Position control scheme of PMSM based on vector
assumptions are given as that in Li and Liu (2009) and Li and control
Zhou et al., (2013): By the mathematical model of PMSM, the difficulty is that
there is a coupling relationship between current id and iq . To
(1) No damping effect on the rotor and the permanent solve this problem, that is to achieve the decoupling between
magnet. motor speed and current, often id [0 of the vector control
(2) Magnetic circuit is not saturated. method is used. In order to control the d-axis and q-axis cur-
(3) Ignore the effects of hysteresis and eddy current loss. rent, the PI control algorithm is usually used. In this paper, a
(4) Space magnetic field is sinusoidal distribution. finite-time control algorithm is designed such that the closed-
Zhu et al. 3

Figure 1. Control principle diagram of PMSM position tracking system based on finite-time control.

 
loop system have a faster convergence speed and disturbance R s id g
ud = L  np viq + ksig (ed ) , ð6Þ
rejection ability. L

where k . 0, 0\g\1: Under this controller, the closed-loop

Controller design based on finite time control
algorithm
Figure 1 shows the control block diagram for the PMSM
position servo system based on finite-time control theory as
that in (Li and Liu, 2009; Li and Zhou et al., 2013). The
design for the q-axis voltage and the d-axis voltage are
achieved into two steps.
 For the first-order d-axis current loop, a first-order
finite-time controller is designed for the d-axis voltage
to ensure that the current signal converges to 0 in a
finite time.
 For the three-order position control loop, an integral
high-order terminal sliding mode controller is designed
based on sliding mode control theory to ensure that
the desired position signal can be tracked by the
motor’s position signal in a finite time.
Design of a first-order finite time d-axis current controller. For
the d-axis current loop, the input is a given current signal
id = 0, and the output is the voltage signal ud .
According to the mathematical model of PMSM, the cur-
rent tracking error of d-axis is defined as ed = id  id . Based
on equation (1), the error system can be written as
R s id ud
e_ d = i_d =  np viq  :
L L
In order to ensure that the ed converges to 0 in a finite time,
the first-order finite time controller is designed as
system can be written as
e_ d = ksigg (ed ): ð7Þ
A Lyapunov function is chosen as
1
V = e2d , ð8Þ
2
which results into
V_ = ed (  ksigg (ed )),
= kjed jg + 1 , ð9Þ
g+1
= k(2V ) 2 :
By Lemma 2, it can be found that the reference current signal
id can be tracked by id in a finite time.
Remark 1. Actually, in the literature (Bhat and Bernstein,
2000; Li et al., 2019; Du et al., 2018), there are usually three
kinds of design methods for finite-time controller, that is,
homogeneous theory-based method, adding a power integrator-
based method, terminal sliding mode-based method. In this
paper, in order to design finite-time controllers for PMSM, the
design procedure is divided into two steps, namely, the first step
is about the d-axis current-loop control, and the second step is
about the position-loop control. For the d-axis current-loop con-
trol system, its dynamics is relatively simple (first-order system),
so the homogenous theory-based method is employed to design
ð4Þ a simple first-order finite-time controller. For the position-loop
control system, its dynamics is relatively complex (third-order
system), so the terminal sliding mode-based method is employed
to design a finite-time controller.

R s id ud
 np viq  = ksigg (ed ), ð5Þ Design of an integral high-order terminal sliding mode
L L
controller. Because the reference position signal u of PMSM
which leads to that is often chosen as step signal or sinusoidal signal in the
4 Transactions of the Institute of Measurement and Control 00(0)

 
industrial control field, it is reasonable to assume that e_ u = u_  u_ = u_  v,
the first-order, the two-order and the third-order differential  3np uf iq T
signals of reference position signal are existing as that in €eu = €u  + Bv + l ,
2J J J
Liu et al. (2010). :::
eu = k1 siga1 (eu )  k2 siga2 (_eu )  k3 siga3 (€eu )  rsign(s):
Theorem 1. For the PMSM position servo control system, if ð15Þ
the q-axis voltage uq is designed as
For the sliding mode surface function s, if the s can converge
2JL to 0 in finite time, then one obtains
uq = v + r sign(s), ð10Þ
3np uf
:::
eu = k1 siga1 (eu )  k2 siga2 (_eu )  k3 siga3 (€eu ): ð16Þ
where
By Lemma 1, the error signal eu converges to 0 in a finite
!
 ...  2 time.
v= 2JL u + Rs + LB iq + np uf  2LB v Next, it is proved that the sliding mode surface function
3np cf J 3np uf J
  s = 0 is reachable in a finite time. Choose the Lyapunov
LBTl LT_ l 2J ð11Þ function
 
J2 J 3np uf
1
+ 2JL (k1 siga1 (eu ) + k2 siga2 (_eu ) + k3 siga3 (€eu )), V = s2 : ð17Þ
3np uf 2
ðt The derivative of V along system (15) is
s = €eu + (k1 siga1 (eu ) + k2 siga2 (_eu ) + k3 siga3 (€eu ))dt, ð12Þ
0 :::
V_ = s( eu + k1 siga1 (eu ) + k2 siga2 (_eu ) + k3 siga3 (€eu )),
then the PMSM position signal u will converge to the desired = s(  rsign(s)),
signal u in a finite time, where there exists e 2 (0, 1) such ð18Þ
= rjsj,
that, for every a3 2 (1  e, 1), the parameters satisfy pffiffiffiffiffiffi
= r 2V ,
a1 = 2aa32a
a3
2
a3
, a2 = 2a 3
, and k1 , k2 , k3 are chosen such that
3 2 1
s + k3 s + k2 s + k1 = 0 is Hurwitz.
which shows that the sliding mode state s converges to 0 in a
Proof. Define the position error as eu = u  u: According to finite time.
the mathematical model of PMSM, the dynamic equation of
the error system can be written as
Adaptive finite-time controller design based on RBF
 
e_ u = u_  u_ = u_  v, neural network
 3np uf iq T
€eu = €u  + Bv + l , From the controller (10)–(11), the system parameters and the
2J J J external load torque information are needed to be accurately
::: ::: 3np uf h 
Rs
 uq i ð13Þ
eu = u + np vid + + B iq  known. But in practical applications, this information is often
2J ! L J L unknown or uncertain. For this reason, this section will use
3n2p u2f B2 _
T neural network identification method to estimate the
+  2 v  B2 Tl + l : information.
2JL J J J
Assumed that there exist a bounded external disturbance
Based on the result in Subsection 3.2.1, the d-axis current can d(t), it follows from (14) that
converge to 0 in a finite time T1 . Therefore, after the time T1 ,
::: ::: 3np uf uq 3np uf h 
R
 i
equation (13) can be rewritten as eu = u  + np vid + s + B iq
2J L ! 2J L J
  3n2p u2f B2 ð19Þ
e_ u = u_  u_ = u_  v, B T_ l
+  2 v  2 Tl + + d(t):
 3np uf iq T 2JL J J J
€eu = €u  + Bv + l ,
2J J J ! Let
... ... 3np uf hRs B
 uq i 3n2p u2f B2
eu = u + + iq  +  2 v
2J L J L 2JL J 3np uf
g= ,
T_ 2JL
 B2 Tl + l :     !
J J 3np uf Rs B 3n2p u2f B2
ð14Þ f= np vid + + iq +  2 v ð20Þ
2J L J 2JL J
Under the controller (10), it can be concluded from (14) that B T_ l
 2
Tl + + d(t):
J J
Zhu et al. 5

Denote the known part as ^

the F(x) is the output of RBF neural network given by (25),
and an adaptive control law is designed as follows
3np uf0
g0 = ,
2J0 L0
! ^_ = 1 shF (x),
W ð29Þ
    l
3np uf0 Rs0 B0 3n2p u2f0 B20
f0 = np vid + + iq +  v,
2J0 L0 J0 2J0 L0 J02 where l . 0, the parameters ai , ki , i = 1, 2, 3, are the same as
that of Theorem 2, then the motor’s position signal u can con-
ð21Þ
verge to the desired signal u in a finite time.
then the uncertainty part can be written as Proof. Substituting the controller (27) into error equation
(23) leads to
Dg = g  g0 , Df = f  f0 : ð22Þ
...
^  k1 siga1 (eu )  k2 siga2 (_eu )  k3 siga3 (€eu )
e u = F(x)  F(x)
Under these notations, the equation (19) can be rewritten as
 rsign(s):
...
... ð30Þ
eu = u  g0 uq  Dguq + f0 + Df ,
... ð23Þ
= u  g0 uq + f0 + F: From this equation, for the integral high-order terminal slid-
ing mode function s defined in (28), it can be obtained
where F = Df  Dguq . Since the motor’s position u, speed v,
current/voltage id , iq , ud , uq , the external disturbance d(t), and ^  rsign(s):
s_ = F  F ð31Þ
load torque Tl of motor system are bounded, the nonlinear
function F is also bounded. To deal with uncertain nonlinear Based on the aforementioned neural network hypothesis, it
function F, an RBF neural network is employed to approxi- can be obtained that
mate F. Assume that there is an optimal weight W  satisfying
^ = (W T  W
F F ^ T )hF (x) + eF : ð32Þ
T
F() = W hF (x) + eF , ð24Þ
Let
T
where x = ½iq , v is the input, hF (x) is the RBF of the neural
~ = W  W
W ^, ð33Þ
network, eF is the approaching error of the network and
jeF j ł eMF with a constant eMF . Based on this model, the out-
then equation (31) can be written as
put of neural network is
~ T hf (x) + eF  rsign(s):
s_ = W ð34Þ
^ =W
F(x) ^ T hF (x), ð25Þ

^ is an estimate of the ideal weight W  . The RBF can Choose the Lyapunov function
where W
be written as 1 2 1 ~T ~
L= s + lW W, ð35Þ
! 2 2
2
k x  cj k
hF (x) = exp  , j = 1, 2,    , n, ð26Þ whose derivative along (29) and (34) is
2b2j

~_ ,
~ TW
L_ = s_s + lW
where cj is the data center of RBF in the j-th neuron of the
hidden layer, and bj is the width of RBF in the j-th neuron of ~ T hF (x) + eF s  rjsj  W
= sW ~ T shF (x), ð36Þ
the hidden layer.
ł  (r  eF )jsj:
As a result, the finite-time controller based on RBF neural
network is designed as follows. Since the approximation error eF is bounded, if the gain satis-
Theorem 2. For the PMSM position servo control system, if fies r . eMF , then it can be concluded that L_ ł 0. Therefore,
the q-axis voltage uq is designed as the sliding mode surface function s and the neural network
weight coefficient error W~ are bounded.
... Next, it will be proven that the sliding mode surface func-
uq = 1 (f0 + F
^ + u + k1 siga1 (eu ) + k2 siga2 (_eu )
g0 ð27Þ tion s can converge to 0 in a finite time and always be 0.
+ k3 siga3 (€eu ) + rsign(s)), Choose the Lyapunov function

1
where V = s2 , ð37Þ
2
ðt
s = €eu + (k1 siga1 (eu ) + k2 siga2 (_eu ) + k3 siga3 (€eu ))dt, ð28Þ whose derivative is
0
6 Transactions of the Institute of Measurement and Control 00(0)

Table 1. The parameters of PMSM.

Parameter value unit

Pole np 4
Motor rated power P 750 W
Motor rated speed N N = 2500 r=min
Motor rated torque TN = 2:71 Nm
Ideal position signal ud p rad
The d and q axis inductance L = L0 + DL, where L0 = 10, DL =  1;1 mH
Stator resistance Rs Rs = Rs0 + DR, where Rs0 = 1:74, DRs =  0:001;  0:001 O
Rotor flux cf cf = cf 0 + Dcf , where cf 0 = 0:0353, Dcf =  0:001;0:001 WEB
Rotor moment of inertia J J = J0 + DJ, where J0 = 7:243104 , DJ =  13105 ;13105 kg  m2
Damping coefficient B B = B0 + DB, where B0 = 0:023106 , N  m  s=rad
DB =  0:013107 ;0:013107
load Tl Tl = 0:01 Nm

~ T hF (x) + eF s  rjsj,
V_ = sW
T
ð38Þ
~ hF (x)  eF )jsj:
ł  (r  W
~ T are
Since the Gaussian function hF (x) and the function W
~ T hF (x) + eF is bounded. As a result, if the gain
bounded, the W
~ T hF (x) + eMF , then
satisfies r . W
pffiffiffiffiffiffi
V_ ł  hjsj = h 2V , ð39Þ
~ T hF (x)  eMF . 0. Clearly, the sliding mode
where h = r  W
state s converges to 0 in a finite time and always be 0. The
proof is completed.
Remark 2. For controller (27) when RBF neural network is
not used, the fractional powers are chosen as one, and the
switch gain is chosen as zero, a traditional nominal system-
based linear feedback control is given as
...
uq = 1 (f0 + u + k1 eu + k2 e_ u + k3€eu ), ð40Þ
g0
where k1 , k2 , k3 . 0 and k2 k3 . k1 , then motor’s position u can
asymptotically converge to the reference signal u . Due the
uncertain function is compensated by RBF neural network,
the proposed RBF-based sliding mode control (27) will will
show a better tracking accurate than nominal system-based
linear feedback control (40), which is demonstrated in the
numerical simulation part.
Simulations
To verify the effectiveness of the proposed control method,
numerical simulations are given for the position control of
PMSM. Tab. 1 describes the parameters of PMSM as that in
(Liu and Wang et al., 2010). To have a comparison, two kinds
of controllers are employed, one is the proposed RBF-based
sliding mode control law and the other one is linear feedback
control law.
For the proposed RBF-based sliding mode control
(RBF + SMC) law, the parameters for Gauss functions are
selected as cj = ½1,  0:5, 0, 0:5, 1, bj = 1, j = 1, 2, 3, 4, 5, the
parameter for adaptive control law is chosen as: l = 0:001,
the parameters for first-order finite-time controller (6) are
selected as k = 5, g = 0:5, t he parameters for the integral
high-order terminal sliding mode controller (27) are chosen
as: k1 = 400, k2 = 550, k3 = 300, r = 5, a1 = 25 , a2 = 12 ,
a3 = 23 .
For the linear feedback control (LFC) law, the parameters
for controller (6) are selected as k = 5, g = 1, the parameters
for linear controller (40) are chosen as k1 = 1800,
k2 = 1200, k3 = 1000.
In the simulation, the uncertainties are chosen as
Dcf = 0:001 sin (t)web, DRs = 0:01 sin (t)O, DL = cos (t)mH
DJ = 1 3 105 sin (t)kg  m2 ,
DB = 0:01 3 107 sin (t)N  m  s=rad:
To verify the aforementioned theoretical results, which
demonstrate that the proposed RBF-SMC presents better
robustness against uncertainties and disturbances, the system
parameters uncertainties are considered and the external dis-
turbance d(t) = 100 is added at speed channel. The response
curves of PMSM under the proposed RBF + SMC law and
LFC control law are presented in Figure 2. Specifically, the
response curves of motor’s position and speed are shown in
Figure 2(a) and Figure 2(b); the response curves of current
for q -axis and d -axis are shown in Figure 2(c) and Figure
2(d); the response curves of voltage for q -axis and d -axis are
given in Figure 2(e) and Figure 2(f). The uncertain nonlinear
function F and the output of neural network F ^ are shown in
Figure 3. Figure 3 (a) shows the RBF neural network used in
this paper has the capability to capture the unknown non-
linear function F(), and Figure 1(b) shows the approximation
error e converges to small region ½2, 2 after five seconds,
that is, jej\2 after five seconds. From the figures, it can be
derived that by employing the proposed RBF-based neural
network and terminal sliding mode control, the tracking per-
formance of closed-loop system can be further improved.
Even the uncertainties and disturbances are considered in
Zhu et al. 7

Figure 2. Response curves of PMSM under the proposed RBF + SMC law and LFC law.
Colored version of the figure is available online.

(a) (b)

Figure 3. Response curves of uncertain function F and estimation ^F under adaptive RBF neural network.
8 Transactions of the Institute of Measurement and Control 00(0)
system, the proposed approach also gives better convergence
performance and robustness compared with traditional linear
feedback control methods.
Conclusion
In this paper, a finite-time control method has been proposed
to solve the problem of finite-time control for PMSM servo
system. Based on integral high-order terminal sliding mode
control theory and RBF neural network, finite-time control-
lers have been designed for q-axis and d-axis respectively. It
has been shown that the desired position signal can be tracked
by the motor’s position in a finite time. The simulation results
have been shown the effectiveness of the proposed control
method. Due to the limitation of experiment condition, the
platform is not available at present in our laboratory; this will
be further carried out in future research.
Acknowledgments
We would like to thank the Editor, the Associate Editor
and the anonymous reviewers for their constructive com-
ments, which greatly improved the quality and presenta-
tion of this paper. We also extend our thanks to Professor
Guanghui Wen at Southeast University and Professor
Xiaozheng Jin at Hefei University of Technology for their
helpful comments and suggestions during the preparation
of the paper.
Declaration of conflicting interests
The author(s) declared no potential conflicts of interest with
respect to the research, authorship, and/or publication of this
article.
Funding
The author(s) disclosed receipt of the following financial sup-
port for the research, authorship, and/or publication of this
article: This work was supported by the National Natural
Science Foundation of China under Grants (61673153,
61873060), the Natural Science Foundation of Jiangsu
Province under Grant BK20190061, the Zhishan Young
Scholar Program of Southeast University, the Fundamental
Research Funds for the Central Universities under Grant
2242019R40009, and the Qing Lan Project of the Higher
Education Institutions of Jiangsu Province.
ORCID iD
Wenwu Zhu https://orcid.org/0000-0001-7368-7323
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