This　article　addresses　the　problem　of　leader-follower　formation　control　for　nonholonomic　mobile　robots　using　onboard　monocular　cameras.　It　introduces　novel　image-based　visual　servoing　control　strategies　that　ensure　desired　performance　and　visibility　constraints,　offering　a　cost-effective　and　easily　implementable　solution.　Firstly,　the　leader-follower　visual　kinematics　in　the　image　plane　is　presented,　followed　by　the　error　transformation　with　predefined　performance　specifications　to　address　visibility　constraints.　Secondly,　a　sliding　mode　controller　is　introduced　in　the　context　of　controlling　an　uncertain　system　with　unknown　parameters,　eliminating　the　need　to　estimate　the　relative　height　information　between　the　camera＇s　optical　center　and　the　feature　points.　Finally,　the　effectiveness　and　performance　of　the　proposed　visual　servoing　controller　are　demonstrated　through　numerical　simulations　and　physical　experiments.　©　2025　IEEE.