This　paper　presents　a　finite-time　sideslip　differentiator-based　line-of-sight　(LOS)　guidance　method　for　robust　path　following　of　snake　robots.　Firstly,　finite-time　stable　sideslip　differentiator　and　adaptive　LOS　guidance　method　are　proposed　to　counteract　sideslip　drift　caused　by　cross-track　velocity.　The　proposed　differentiator　can　accurately　observe　the　cross-track　error　and　sideslip　angle　for　snake　robots　to　avoid　errors　caused　by　calculating　sideslip　angle　approximately.　In　our　method,　the　designed　piecewise　auxiliary　function　guarantees　the　finite-time　stability　of　position　errors.　Secondly,　for　the　case　of　external　disturbances　and　state　constraints,　a　Barrier　Lyapunov　function-based　backstepping　adaptive　path　following　controller　is　presented　to　improve　the　robot＇s　robustness.　The　uniform　ultimate　boundedness　of　the　closed-loop　system　is　proved　by　analyzing　stability.　Additionally,　a　gait　frequency　adjustment-based　virtual　velocity　control　input　is　derived　to　achieve　the　exponential　convergence　of　the　tangential　velocity.　At　last,　the　availability　and　superiority　of　this　work　are　shown　through　simulation　and　experiment　results.　©　2014　Chinese　Association　of　Automation.