In　order　to　meet　the　accuracy　requirement　of　the　trajectory　tracking　motion　of　snake　robot　and　eliminate　the　influence　of　the　external　disturbance　on　the　tracking　error　of　the　robot,　an　adaptive　trajectory　tracking　controller　for　snake　robot　tracking　error　prediction　is　proposed.　The　proposed　controller　achieves　the　prediction　of　the　disturbance　variables,　friction　coefficient　and　control　parameters　of　the　robot,　and　compensates　the　control　input　of　the　system　with　the　predicted　value　and　virtual　control　function.　The　sideslip　angle　of　the　snake　robot　in　the　trajectory　tracking　is　conteracted,　and　the　negative　influence　of　the　interference　variables　on　the　robot　is　avoided.　The　error　stability　and　control　accuracy　of　the　trajectory　tracking　are　improved.　After　the　snake　robot　model　is　established,　the　line-of-sight　method　is　improved　using　the　integral　sideslip　angle　compensation　term.　The　adaptive　trajectory　tracking　controller　of　snake　robot　is　designed.　The　position　error　of　the　robot　converges　within　10　s,　the　angle　error　is　less　than　0.03　rad,　and　the　predicted　value　error　converges　within　5　s.　Through　simulation　experiments,　the　effectiveness　and　superiority　of　the　proposed　controller　are　verified.　©　2021,　Science　Press.　All　right　reserved.