For a class of dynamic models of nonholonomic mobile robots in the presence of uncertain disturbances under visual servo with unknown parameters, a novel feedback controller was proposed to stabilize the mobile robot.For the kinematic model of the robot with a monocular camera, a state scaling transformation was applied to its original system, and the stability theory for time-varying linear system was exploited to deduce a desired velocity to stabilize the mobile robot exponentially.The method of computed-torque was introduced for the dynamic model associated with uncertain disturbances to design a torque controller which can let the actual velocity track the desired one in finite time.The method was also proved rigorously in mathematical way.The simulation results confirm the effectiveness of the proposed methods.