This　paper　proposes　a　leader–follower　control　method　for　multiple　snake　robot　formation.　Based　on　the　simplified　snake　robot　model,　this　work　improves　the　traditional　Serpenoid　gait　mode　to　a　time-varying　frequency　form.　Combined　with　the　line-of-sight　(LOS)　method,　a　snake　robot　trajectory　tracking　controller　is　designed　to　enable　the　leader　to　track　the　desired　trajectory　at　the　ideal　velocity.　Then,　the　leader–follower　following　error　system　of　a　snake　robot　formation　is　established.　In　this　framework,　the　follower　can　maintain　a　preset　geometric　position　relationship　with　the　leader　to　ensure　the　fast　convergence　of　the　formation　location.　Lyapunov＇s　theory　proves　the　stability　of　a　snake　robot　formation　error.　Simulation　and　experimental　results　show　that　this　strategy　has　the　advantages　of　faster　convergence　speed　and　higher　tracking　accuracy　than　other　current　methods.　©　2024