Aiming at tracking targets by wheeled mobile robots(WMR) with cameras, a fuzzy neural network control scheme was presented.The scheme includes two parts:one is to control the camera and the other is to control the wheeled mobile robots.In the camera control part, a Pan-Tilt controller was designed by using some angles between related lines connecting feature points so that the feature points on the camera image plane can track the target feature points timely and keep them in the desired positions on the image plane.For the tracking control of the wheeled mobile robots, a tracking controller was proposed by using the T-S fuzzy neural network.The configuration and speed of wheeled mobile robots can be adjusted from by virtue of visual servoing feedback to implement an effective target tracking.The simulation results illustrate the effectiveness of the scheme propvided.