Aimed at the contour error control problem of twoaxis servo system, a cross coupling contour error control method based on fuzzy sliding mode was proposed. A single axle fuzzy sliding mode tracking controller was designed to eliminate disturbance. The fuzzy controller was used to adjust the switching gain of the sliding mode controller adaptively to reduce the chattering phenomenon of the sliding mode control. The cross coupling control algorithm was used to coordinate the control between two axes to solve the problem of mismatching parameters between the axes and ensure the contour control accuracy. The simulation results show that the tracking accuracy and contour accuracy can be improved effectively by using this method.