Table 3.

System simulation parameters

Parameter	Description	Value	Unit
$m_1$	Mass of the chassis	1	kg
$m_2$	Mass of the linear actuators	0.6	kg
$m_{\text{w}}$	Mass of wheel	0.14	kg
$g$	Gravitational acceleration	9.81	m/s2
$l$	Distance of chassis’s center of mass for wheel axle	0.14	m
$R$	Wheel radius	0.05	m
$J_1$	Rotation inertia of chassis	0.068	kg m2
$J_2$	Rotation inertia of moving mass	0.0093	kg m2
$J_{\text{w}}$	Rotation inertia of a wheel	0.000175	kg m2
${\mathit{\mu }}_{\text{c}}$	Coefficient of friction between chassis and wheel	0.1	N s/m
${\mathit{\mu }}_{\text{w}}$	Coefficient of friction between wheel and ground	0	N s/m
${\mathit{\mu }}_1$	Coefficient of friction of vertical linear actuator	0.3	N s/m
${\mathit{\mu }}_2$	Coefficient of friction of horizontal linear actuator	0.3	N s/m