Unmanned　aerial　manipulator　(UAM)　is　a　new　type　of　robotic　system　equipping　with　active　operation　mechanism,　which　has　the　ability　to　physically　interaction　with　environments.　Aiming　at　the　problem　of　stable　control　when　the　UAM　dynamic　grasping,　a　nonsingular　terminal　sliding　mode　adaptive　controller　with　an　auxiliary　system　is　proposed　to　improve　the　anti-disturbance　property　of　the　UAM　facing　to　unpredictable　contact　force.　The　Newton-Euler　method　is　adopted　to　establish　the　dynamics　model　of　the　UAM.　Considering　the　instantaneous　contact　force　between　the　end　tip　of　the　onboard　manipulator　and　the　object　is　the　main　disturbance　source　in　grasping,　the　contact　force　model　based　on　dynamics　is　established　by　using　impulse　theorem　to　improve　modeling　accuracy　when　UAM　dynamic　grasping.　To　reduce　the　influence　of　violent　disturbance　on　flight　control　performance　during　dynamic　grasping,　an　auxiliary　system　is　proposed　in　the　controller　to　compensate　for　the　possible　input　saturation,　enhancing　the　ability　to　deal　with　instantaneous　disturbances.　The　stability　of　the　proposed　method　is　analyzed　by　Lyapunov　theory.　The　simulation　and　experimental　results　show　that　the　proposed　method　has　advantages　of　strong　stability　and　rapid　response　for　UAM　dynamic　grasping.　©　2023　Chinese　Mechanical　Engineering　Society.　All　rights　reserved.