In order to compensate disturbance and accomplish the stabilized tracking control for airborne plat-form mounted on multi-rotor unmanned aerial vehicle (MUAV), a self-adjusting tracking control method based on an improved disturbance observer (DOB) and radial basis function (RBF) neural network approximation is pro-posed. First, a compensated control is introduced into feedback loop in the structure of original disturbance ob-server, an improved disturbance observer is established based on velocity signals, and the ability of disturbance compensation and robustness are analyzed. Second, aiming at the compensation problem of nonlinear un-known disturbance, a method based on the RBF neural network (RBFNN) approximation properties is utilized. Finally, a composite compensation control structure is designed based on Lyapunov stability theory. The experi-mental results show that after applying the proposed method, the disturbance of airborne opto-electronic plat-form is compensated effectively. The proposed method has high precision and stable tracking control perfor-mance, and it can fully meet the requirement of airborne opto-electronic platform stability control.