Three-dimensional　spiral　gait　enables　a　snake　robot　to　climb　over　obstacles,　cross　caves,　and　adapt　to　complex　environments.　This　article　reports　an　antidisturbance　path-following　control　method　for　a　snake　robot　with　a　spiral　gait.　This　method　reduces　the　deviation　of　the　robot＇s　position　in　following　the　ideal　path　by　estimating　the　time-varying　parameters,　the　external　disturbances,　and　the　viscous　friction　coefficients.　The　estimations　are　used　to　compensate　for　the　control　inputs　of　the　system,　which　can　improve　the　adaptability　of　the　robot　to　the　environment.　Then,　the　attitude　and　position　errors　can　rapidly　converge　to　the　origin.　An　appropriate　Lyapunov　function　is　adopted　to　explore　the　stability　of　following　errors.　Experimental　results　show　that　the　proposed　method　can　accelerate　the　convergence　rate　of　errors,　reduce　the　fluctuation　peak,　and　improve　the　following　stability　of　snake　robots.　©　2005-2012　IEEE.