This　work　presents　a　trajectory　tracking　control　method　for　snake　robots.This　method　eliminates　the　influence　of　time-varying　interferences　on　the　body　and　reduces　the　offset　error　of　a　robot　with　a　predetermined　trajectory.The　optimized　line-of-sight(LOS)guidance　strategy　drives　the　robot＇s　steering　angle　to　maintain　its　anti-sideslip　ability　by　predicting　position　errors　and　interferences.Then,the　predictions　of　system　parame-ters　and　viscous　friction　coefficients　can　compensate　for　the　joint　torque　control　input.The　compensation　is　adopted　to　enhance　the　compatibility　of　a　robot　within　ever-changing　environments.Sim-ulation　and　experimental　outcomes　show　that　our　work　can　decrease　the　fluctuation　peak　of　the　tracking　errors,reduce　adjustment　time,and　improve　accuracy.