Aerial　operation　with　unmanned　aerial　vehicle　(UAV)　manipulator　is　a　promising　field　for　future　applications.　However,　the　quadrotor　UAV　manipulator　usually　suffers　from　several　disturbances,　such　as　external　wind　and　model　uncertainties,　when　conducting　aerial　tasks,　which　will　seriously　influence　the　stability　of　the　whole　system.　In　this　paper,　we　address　the　problem　of　high-precision　attitude　control　for　quadrotor　manipulator　which　is　equipped　with　a　2-degree-of-freedom　(DOF)　robotic　arm　under　disturbances.　We　propose　a　new　sliding-mode　extended　state　observer　(SMESO)　to　estimate　the　lumped　disturbance　and　build　a　backstepping　attitude　controller　to　attenuate　its　influence.　First,　we　use　the　saturation　function　to　replace　discontinuous　sign　function　of　traditional　SMESO　to　alleviate　the　estimation　chattering　problem.　Second,　by　innovatively　introducing　super-twisting　algorithm　and　fuzzy　logic　rules　used　for　adaptively　updating　the　observer　switching　gains,　the　fuzzy　adaptive　saturation　super-twisting　extended　state　observer　(FASTESO)　is　constructed.　Finally,　in　order　to　further　reduce　the　impact　of　sensor　noise,　we　invite　a　tracking　differentiator　(TD)　incorporated　into　FASTESO.　The　proposed　control　approach　is　validated　with　effectiveness　in　several　simulations　and　experiments　in　which　we　try　to　fly　UAV　under　varied　external　disturbances.