Unmanned　aerial　manipulator　is　a　new　kind　of　robot　systems　that　consists　of　a　multi-joint　manipulator　and　flying　robot.　It　can　exert　a　positive　influence　on　the　environments,　as　well　as　with　a　complex　dynamics　properties.　Aiming　at　the　system　control　problems　of　friction,　contact　force　in　dynamic　gliding　grasping　and　inertia　tensor　changing　in　flying,　this　paper　proposed　an　integral　robust　adaptive　control　strategy　for　the　unmanned　aerial　manipulator.　At　first,　friction　and　contact　force　are　introduced　in　the　dynamic　modeling,　and　the　inertia　tensor　is　considered　as　bounded　variables　to　improve　accuracy　of　modeling　and　grasping.　Then,　in　order　to　reduce　impact　of　disturbances　caused　by　dynamic　gliding　grasping　on　flight　control　performance,　an　anti-disturbances　robust　controller　is　designed　based　on　interval　matrix　method　to　compensate　the　changes　of　the　inertia　tensor.　Subsequently,　the　stability　analysis　is　provided　through　the　Lyapunov　stability　theory.　Finally,　the　effectiveness　and　superiority　of　the　proposed　method　are　verified　in　simulation　comparisons.　©　2021,　Editorial　Department　of　Control　Theory　&　Applications　South　China　University　of　Technology.　All　right　reserved.