This　work　reports　an　adaptive　path-following　controller　for　a　multijoint　snake　robot　(MSR)　to　improve　the　adaptability　of　the　robot　to　the　environment.　The　new　strategy　estimates　the　time-varying　parameters　of　the　system　and　the　external　interference　to　adjust　the　motion　state　of　the　robot　in　real　time.　Estimations　are　used　to　compensate　for　the　joint　torque　of　an　MSR,　thus　reducing　the　fluctuation　peak　of　path-following　errors.　In　addition,　this　work　designs　an　anti-sideslip　line-of-sight　(LOS)　guidance　strategy　to　avoid　the　deviation　of　the　direction　angle.　The　method　can　improve　the　tracking　accuracy　of　an　MSR,　and　the　position　errors　enable　the　system　to　achieve　uniformly　ultimate　boundedness　(UUB).　The　angle　errors　converge　to　the　origin　to　achieve　stability.　Experimental　results　demonstrate　that　the　novel　method　can　accurately　estimate　the　time-dependent　parameters,　sideslip,　and　interference,　raise　the　convergent　speed　of　errors,　and　reduce　the　fluctuation　peak.　©　2022　IEEE.