This　article　investigates　the　active　physical　interaction　problem　of　an　aerial　manipulator　in　terms　of　capability,　reliability,　and　costs.　Then,　an　active　physical　interaction　control　architecture　is　presented　for　the　aerial　manipulator　to　achieve　both　stable　motion　and　interaction　behaviors　with　external　wrench　estimation.　Specifically,　an　external　wrench　estimator　in　absence　of　the　acceleration　and　wrench　measurements　is　designed　to　regulate　the　interaction　point　of　the　aerial　manipulator　with　a　minimal　sensor　condition.　Next,　a　force　tracking　impedance　control　strategy　with　variable　stiffness　is　presented　to　guarantee　the　contact　stability　and　force　tracking　of　the　aerial　manipulator　with　uncertain　contact　targets.　Further,　utilizing　the　knowledge　of　prescribed　performance　and　terminal　sliding　mode　surface,　a　pose　controller　is　proposed　to　implement　the　dynamic　response　speed　and　accuracy　control　of　the　aerial　manipulator,　which　provides　a　prerequisite　for　the　realization　of　reliable　physical　interaction　tasks.　The　stability　of　the　proposed　control　architecture　is　analyzed　through　Lyapunov　tools.　Moreover,　the　feasibility　and　performance　of　the　proposed　control　architecture　are　validated　via　simulations　and　real-world　contact　experiments.　IEEE