This　study　investigates　the　trajectory　tracking　strategy　of　a　snake　robot　with　sideslip　disturbance　and　unknown　model　parameters.　To　guide　the　robot　to　track　the　ideal　trajectory　faster　and　more　accurately,　an　adaptive　anti-sideslip　strategy　for　a　snake　robot　with　the　Integral　Line-of-Sight　(ILOS)　function　is　reported.　This　technique　eliminates　direction　sideslip　and　error　fluctuation　by　using　auxiliary　integral　terms　and　shortens　the　convergence　time　of　state　variables.　Following　the　position　and　angle　control　objectives,　the　proposed　controller　considers　the　negative　effects　caused　by　the　uncertainty　and　time　variability　of　environmental　parameters　and　compensates　for　the　joint　input　using　the　adaptive　update　laws.　The　environment　adaptability　and　tracking　efficiency　are　improved.　The　stability　analysis　indicates　that　the　state　errors　converge　to　the　origin.　The　simulation　and　experiment　data　verifies　the　effectiveness　and　strength　of　the　work.　　©　2004-2012　IEEE.