A novel composite compensation control scheme based on an improved Disturbance Observer (DOB) and fuzzy approximation was proposed to achieve the real-time stabilization and high-precision tracking control of an airborne opto-electronic platform. First, the kinematic coupling relationship between different frames was analyzed according to mechanical characteristics of the system. Then,an improved DOB structure based on the velocity signal was proposed to restrain the impact of carrier disturbance, and its basic principle and robust stability were analyzed. Considering the disturbance such as the friction torque that exists in mechanical systems generally, a composite control method with a fuzzy controller was proposed to improve the tracking performance. Finally, the global stability and the asymptotic convergence of the tracking error were proved on the basis of Lyapunov stability theory. Experiment results show that the stabilization accuracy can reach a higher level and the tracking error has been μrad magnitude, which demonstrates that the proposed scheme in this paper can restrain the impact of carrier disturbance and improve the tracking performance effectively.