The problem, that the angle control of the mobile robot's visual target following system based on the traditional linear control law cannot satisfy the need of high efficiency and fastness so that the target is easy missed, is focused in this paper. A visual following method based on dynamic T-S fuzzy control is proposed. The HOG algorithm is used to detect the target and the target position vector is obtained by the camera model. Based on the T-S fuzzy control, dynamic processing is performed to further improve the response speed of angular error convergence. The simulation by MATLAB shows that the convergence time of the angle error is less than 0.4 second. Therefore, the improved fuzzy control method can effectively improve the response speed of the angle error, shorten the time of the angle error convergence, and make the follow-up system have better rapidity and adaptability. By experiment on the mobile robot platform, the convergence time of the angle error is less than 0.5 second.