In this paper, an air-ground cooperative biased partial format dynamic linearized model-free adaptive control (A-G-PFDL-MFAC) strategy is proposed for the air-ground heterogeneous cooperative robot path tracking control problem. Firstly, a novel dynamic linearisation technique is proposed for a complex, nonlinear, air-ground, heterogeneous formation tracking control system, based on a time-varying pseudo-gradient parameter. Secondly, a novel model-free adaptive control framework is presented, based on this dynamically linearised data model. The innovative method is a purely data-driven approach that relies only on the real-time input/output (I/O) data of the system during the controller design process, thus avoiding the dependence on the exact dynamics model. The effectiveness of the proposed method has been verified by carrying out a series of numerical simulations.