In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.