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　parameters　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.　Simulation　and　experimental　outcomes　show　that　our　work　can　decrease　the　fluctuation　peak　of　the　tracking　errors,　reduce　adjustment　time,　and　improve　accuracy.