Table 3: Tire parameters.

ParameterValue

Radius0.1 m
Width0.075 m
Vertical stiffness75000 N/m
Lateral stiffness166.55 N/°
Mass1.5 kg
3.45 × 10−3 kg·m2
5.62 × 10−3 kg·m2
Damping175 N/(m/s)