Abstract: To solve the influence of longitudinal slip on trajectory tracking control of mobile robot, an automatic adaptive trajectory tracking control method based on event triggering is proposed. An adaptive estimation strategy is introduced and the longitudinal slip of the driving wheel is estimated adaptively through two slip parameters to overcome the motion disturbance caused by longitudinal slip. At the same time, combined with the idea of event triggering, the triggering function is designed to reduce the communication frequency and save computing resources. Finally, Lyapunov stability theory is used to prove the stability of the system. The simulation and experimental results show that the control system can still converge rapidly in a short time and improve the stability of the moving system in the case of a 56.85% increase in the root mean square of the maximum position error due to longitudinal slip.