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However, the image moment features that control the camera\u2019s rotation motion around the x-axis and y-axis mainly depend on the target image itself. In this paper, the ultra-redundant manipulator visual positioning and robust tracking control method based on the image moments are advocated.First, six image moment features used to control camera motion around the x-axis and around the y-axis are proposed. And then, a novel method is proposed to use to select image features. For tracking a moving target, a kalman filter combined with adaptive fuzzy sliding mode control method is proposed to achieve tracking control of moving targets, which can estimate changes in image features caused by the target\u2019s motion on-line and compensate for estimation errors. Finally, the experimental system based on Labview-RealTime system and ultra-redundant manipulator is used to verify the real-time performance and practicability of the algorithm. 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