To solve the problem of small field-of-view of the camera in the visual servo of rotor UAVs, a visual servo control method based on PTZ camera is proposed, which realizes the fixed-point hovering control of rotor UAVs outside the field-of-view of classical visual servo.Firstly, the image feature kinematics model of PTZ camera is established, and the visual servo control method of rotor UAVs based on PTZ camera is designed.The fuzzy PID algorithm is integrated into PTZ control to improve the response speed.The visual servo fixed-point hovering simulation of the rotor UAVs under the condition of a near target point and a middle-to-far target point is conducted respectively.The simulation results show that the proposed method greatly expands the field-of-view of the visual servo control of the rotor UAVs, which widens the application scenarios of the visual servo control of the UAVs.