The first author was supported by the National Natural Science Foundation of China (Grant No. 11501053) and the Foundation of Education Department of Hunan (Grant No. 15C0026), and Hunan Provincial Key Laboratory of Mathematical Modeling and Analysis in Engineering (Changsha University of Science & Technology). The second author was supported by the initiative research fund from Central South University and the National Natural Science Foundation of China (Grant No. 11701576). And the last author was partially supported by the National Science Foundation, USA, through grant DMS-1226259.