In　this　article,　an　adaptive　force　tracking　impedance　control　strategy　is　investigated　for　an　aerial　manipulator　in　physical　interaction　with　uncertain　contact　environments.　Based　on　the　modified　target　impedance　model,　an　adaptive　impedance　control　method　is　proposed　to　accomplish　aerial　interaction　in　uncertain　environments　while　maintaining　a　stable　contact　force,　wherein　the　environment　parameters　of　location　and　stiffness　are　estimated　online　to　generate　a　reference　position　trajectory.　Then,　in　order　to　ensure　the　tracking　performance　of　the　aerial　manipulator,　a　robust　pose　tracking　controller　is　designed,　including　a　barrier　function-based　position　controller　and　an　adaptive　attitude　controller.　Both　proposed　position　and　attitude　controllers　can　ensure　finite-time　convergence　of　the　state　variable　without　the　priori　boundary　information　of　disturbances.　In　particular,　the　position　state　variable　can　converge　to　a　predefined　neighborhood　of　zero　from　any　initial　state,　and　the　control　gain　is　not　overestimated.　The　stability　of　the　proposed　strategy　is　analyzed　via　Lyapunov　tools.　Simulations　and　real-world　experiments　are　conducted　to　illustrate　the　feasibility　and　performance　of　the　proposed　control　strategy.　Note　to　Practitioners-The　motivation　of　this　article　is　to　investigate　an　adaptive　force　tracking　impedance　control　strategy　for　aerial　physical　interaction　with　uncertain　contact　environments.　In　the　existing　impedance　control　schemes　for　aerial　manipulators,　the　environment　parameter　of　location　or　stiffness　is　often　required　to　be　utilized　in　controller　design.　However,　in　practical　cases,　the　environmental　parameters　are　not　known　precisely.　Thus,　this　article　presents　an　adaptive　impedance　method　to　automatically　generate　the　reference　position　trajectory　and　achieve　a　stable　contact　force.　Additionally,　the　tracking　performance　of　the　aerial　manipulator　is　inevitably　subject　to　uncertainties　and　disturbances.　To　ensure　tracking　convergence,　traditional　robust　controllers　generally　involve　high　control　gains　than　the　known　upper　bounds　of　the　disturbances.　The　main　disadvantage　of　those　controllers　is　that　the　control　gain　is　often　overestimated　when　the　disturbance　decreases.　To　address　this　issue,　a　barrier　function-based　position　controller　is　proposed　for　the　aerial　manipulator,　where　the　priori　boundary　information　of　disturbances　is　not　needed　and　the　control　gain　is　adaptively　adjusted　according　to　the　amplitude　of　disturbances.　The　stability　and　convergence　of　the　proposed　strategy　are　analyzed　mathematically,　and　the　experiments　using　an　aerial　manipulator　provide　promising　results.