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The aerial manipulator is a novel flying robot consisting of an unmanned aerial vehicle (UAV) and a multi-degree-of-freedom (DoF) robotic arm. It can actively interact with the environment to conduct dangerous or inaccessible tasks for humans. In this paper, we propose a composite control scheme considering force and position for the aerial manipulator to operate in steady contact with the environment when influenced by external disturbances. First, a contact force control method without employing the force sensor is obtained on the mechanical relationship of the system’s contact with the environment. Second, we regard the system’s internal coupling and external disturbance as lumped disturbances and design an extended state observer (ESO) to estimate them. Combined with the disturbance estimation and the nonsingular global fast sliding mode algorithm, a controller derived from the Lyapunov theory is proposed. Finally, we compare the proposed controller with the other four controllers through simulations and actual flight experiments. The results show that the proposed controller can effectively restrain disturbances, reduce convergence time, and guarantee steady contact under external disturbances.