Problem with movement. Which parameters can be tuned to get more accurate movement?

I am working on 3-wheeled robot with 2 hoverboard motors (used for 2 front wheels, third one is supporting wheel). On low velocity (input_vel = 1 or 2), one of the wheels makes more turns, as a result of which the trajectory of the robot’s movement changes. It seems to me, that the problem is a velocity error. I tried to change the vel_gain and vel_integrator_gain parameters, but it didn’t help. What else can I do?

Could be a cogging problem? We’ll need data for better analysis

I will look about cogging problem. What additional data you need to?