Mobile robot fails to drive at high speeds

Hi,
I have a mobile robot urdf imported with import inertia tensors directly from URDF checked. But I want to run it at high speeds up to 5 m/s which needs a joint velocity of about 2000 deg/s (which is the unit used for an angular drive I suppose.) But at such high speeds, the robot bounces off all over the place and does not work well as compared to lower speeds. Is there any property or changes I need to make in order to have high speeds?