This　article　investigates　the　problem　of　aerial　active　interaction　for　unmanned　aerial　manipulator　under　unknown　contact　force　and　lumped　disturbances　composed　of　modeling　uncertainties　and　environmental　interferences.　A　dynamic　tracking　interaction　control　architecture　with　arbitrary　convergence　time　is　proposed　to　implement　both　compliant　aerial　interaction　and　stable　tracking　flight.　Particularly,　an　arbitrary　convergence　time　nonlinear　disturbance　observer　is　designed　to　estimate　interaction　force　in　the　absence　of　force　sensors.　A　Takagi-Sugeno-Kang　fuzzy　estimator　with　k-closest　fuzzy　rule　interpolation　is　constructed　to　derive　an　approximation　in　representing　lumped　disturbances.　Also,　an　arbitrary　convergence　time　control　strategy　is　introduced　for　the　quadrotor　to　implement　the　rapid　response　and　precise　trajectory　tracking　control,　and　an　admittance　controller　within　arbitrary　convergence　time　for　the　onboard　manipulator　is　presented　to　guarantee　stable　compliant　interaction.　The　stability　of　the　proposed　control　architecture　is　analyzed　through　Lyapunov　theory.　The　feasibility　and　performance　of　this　novel　control　architecture　are　demonstrated　through　simulations　and　real-world　investigation　on　tracking　and　touching　mobile　robot　dynamically.