The　challenge　in　image-based　visual　servoing　is　to　deal　with　the　visibility　constraints,　which　require　the　image　features　to　always　remain　in　the　field　of　view　(FOV)　of　the　camera.　In　this　paper,　a　novel　constraint　function　is　proposed　to　address　this　problem.　The　FOV　constraint　function　represented　by　the　coordinates　of　the　features　and　the　region　boundaries　defined　in　the　image　is　added　to　the　classical　proportional　controller,　which　leads　the　image　features　from　the　margin　to　the　center　of　the　image.　Simulation　results　verify　the　efficiency　of　the　modified　controller　by　controlling　a　robot　manipulator　with　eye-in-hand　configuration.　©　2022　IEEE.