Bias-Compensated Sliding Mode Control for Miniaturized Dual-Tilt Aerial–Ground Robot

Hybrid aerial–ground robots have recently attracted increasing attention for their versatile mobility and adaptability across complex environments. This paper presents a bias-aware estimation and control framework for a miniaturized dual-tilt aerial–ground robot. A complete nonlinear dynamic model is first established, and a bias-linearized allocation structure is derived to reveal the effect of tilt-axis misalignment on the generalized force mapping. Based on this model, servo installation bias