Mitigating the impact of disturbance torque resulting from the eccentric load of a high-precision vertical aerial turntable is an essential focus. This study introduces a feedforward current compensation approach based on disturbance torque observation. By utilizing a variable-gain model reference adaptive algorithm and a tracking differentiator, the inertia and acceleration during the turntable’s motion were identified and monitored. This method facilitated the determination of disturbance torque values at various positions, which were then compensated through current feedforward to the backlash motor. Experimental validation was performed on a dual-motor turntable setup. The findings illustrated that, in comparison to scenarios without disturbance compensation, the root mean square velocity tracking error during steady-state operation under eccentric loading conditions decreased from 0.1821°/s to 0.0705°/s, demonstrating enhanced stability in the dynamic process. These results affirm the efficacy of the proposed method in mitigating torque disturbances caused by load eccentricity and significantly improving the system’s dynamic capabilities.