Visual servoing control schemes have attracted increasing attention due to their potential applications. We propose a position-based visual servoing (PBVS) control system for a two-degree-of-freedom (2-DOF) pointing platform with rotation significantly influenced by external perturbations. First, a novel pseudo-linear Kalman filter (PLKF) is developed to estimate the target state from only bearing and distance measurements required by photoelectric sensors. A robust attitude controller incorporated time-varying uncertainty and disturbance estimator (TV-UDE) is then proposed to actively estimate and compensate for the unknown input disturbances. Compared with a classic UDE, TV-UDE can avoid the peaking phenomena while maintaining higher estimation accuracy. Finally, experiments are conducted on a retrofitted dual-axis control platform to verify the effectiveness, robustness, and superiority of the proposed PBVS control scheme. Experimental results demonstrate the precision of laser targeting and its robustness against uncertain factors, with the RMSEs of pitch and yaw axes achieving 0.5293° and 0.1866°, respectively.