In order to solve the problems caused by the traditional control methods of feed servo system,such as the characteristic mismatch of each axis,poor control accuracy and insufficient anti-disturbance ability,a contour tracking control algorithm based on active disturbance rejection control (ADRC) and iterative learning cross-coupling control (ILCCC) was proposed.For arbitrary contour curves in space,the compensation amount of contour error allocated to each axis was optimized by the proposed algorithm through continuous iterative learning process under the condition of three-axis linkage,the dynamic response of the servo axis was accelerated,and the contour error of the servo system was inhibited effectively.The mathematical model of the controller was established under the simulation platform,and the trajectory of the space straight line and the space spiral line was verified by three-dimensional tracking.The research results show that:compared with ADRC control algorithm and ADRC+PIDCCC control algorithm,ADRC+ILCCC control algorithm has a great improvement in the maximum absolute value,cumulative value and average value of contour error,which proves the superiority of the proposed algorithm.