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The dynamic model of the manipulator usually contains certain structural uncertainties and is always influenced by unknown disturbance. An adaptive backstepping sliding mode control method based on nonlinear disturbance observer is proposed to solve the problem of trajectory tracking control for the manipulator in this paper. The nonlinear disturbance observer is used to observe the external disturbance without the prior knowledge of the upper bound. For structural uncertainties, backstepping sliding mode control with the adaptive law is introduced to ensure the stability of the closed-loop system and enhance the system dynamic adaptability. The simulation results show that the proposed method can effectively overcome the uncertainty of the system, reduce the buffing of the input signal and finally realize the fast and accurate tracking of the desired trajectory.