A vision-controlled model for two Degrees of Freedom (2-DOF) PZT is established, and through the analysis of the tracked object's location on the image planes of adjacent frames taken by the cameras, we realize a high efficiency and time-saved aim surveillance. Alternative functions are taken to depict the input angle that adjusts the PZT to track the moving object. It is found that the deviant brought in by the approximate model can be neglected compared to the accurate model. The location-feedback method improves the efficiency of aim-searching. The results demonstrate that with 25 frames per second, the camera is able to track the object with lower location deviant, compared with the original. Even when the object’s speed increases to 2 m/s, it could also stably track the object. A binocular vision model is proposed for the controlling system, and it can avoid the object-loss area during the tracking.