Friction model for mobile robot with castor wheel

Hi all,

I am currently working on a model of mobile robot with a castor wheel. The objective is to make the castor wheel's motion as realistic as possible, such that when it is moving on the floor, it behaves accordingly to the direction the mobile robot is facing. I have included the Rotational Hard Stop Friction model from the forcesPS_lib in the Simscape Multibody Multiphysics library, but however the castor wheel is either swiveling non-stop around the kingpin or it does not move accordingly to the robot's direction.

Have anyone encountered such issue or can share the troubleshooting steps to solve this problem?