Unmanned　aerial　manipulator　(UAM)　is　usually　a　combination　of　a　quadrotor　and　a　robotic　arm　that　can　exert　active　influences　on　the　environments.　The　control　problems　of　the　UAM　system　include　model　uncertainty　caused　by　its　center　of　gravity　shift　and　external　disturbances　from　the　environments.　To　handle　these　two　disturbances,　a　tracking　control　strategy　is　proposed　for　position　and　attitude　control　of　the　UAM　in　this　paper.　In　particular,　the　model　of　the　UAM　is　established　considering　with　center　of　gravity　shift　and　disturbances　from　environments.　In　the　position　control,　both　internal　disturbances　and　external　disturbances　are　compensated　by　using　a　sliding　mode　controller.　In　the　attitude　control,　an　adaptive　law　is　designed　to　estimate　internal　disturbances,　and　a　disturbance　observer　is　designed　to　estimate　external　disturbances.　The　stability　analysis　of　the　proposed　controller　is　provided　and　the　effectiveness　of　the　proposed　method　is　verified　in　simulation.　©　2013　IEEE.