1. Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, 1/15 Stefanowski Street, 90-924 Lodz, Poland
2. Department of Vehicles, Warsaw University of Technology, 84 Narbutta Street, 02-524 Warszawa, Poland
3. Department of Mathematics and Modeling, Saratov State Technical University, Russian Federation, Politehnicheskaya 77, Saratov 410054, Russia