In　this　article,　an　adaptive　sliding-mode　disturbance　observer　(ASMDO)-based　finite-time　control　scheme　with　prescribed　performance　is　proposed　for　an　unmanned　aerial　manipulator　(UAM)　under　uncertainties　and　external　disturbances.　First,　to　take　into　account　the　dynamic　characteristics　of　the　UAM,　a　dynamic　model　of　the　UAM　with　state-dependent　uncertainties　and　external　disturbances　is　introduced.　Then,　note　that　a　priori　bounded　uncertainty　may　impose　a　priori　constraint　on　the　system　state　before　obtaining　closed-loop　stability.　To　remove　this　assumption,　an　ASMDO　with　a　nested　adaptive　structure　is　introduced　to　effectively　estimate　and　compensate　the　external　disturbances　and　state-dependent　uncertainties　in　finite　time　without　the　information　of　the　upper　bound　of　the　uncertainties　and　disturbances　and　their　derivatives.　Furthermore,　based　on　the　proposed　ASMDO,　the　finite-time　control　scheme　with　the　prescribed　performance　is　presented　to　ensure　finite-time　convergence　and　implement　the　specified　transient　and　steady-state　performance.　The　Lyapunov　tools　are　utilized　to　analyze　the　stability　of　the　proposed　controller.　Finally,　the　correctness　and　performance　of　the　proposed　controller　are　illustrated　through　numerical　simulation　comparisons　and　outdoor　experimental　comparisons.　©　2013　IEEE.