Improving the contour following performance of multi-axis servo system is one of the most important applications of modern CNC machining process.As the traditional cross-coupled control method has poor contour tracking accuracy for free-curve trajectory,and the traditional PID control system has poor disturbance rejection and robustness,an integrated control strategy of cross-coupled contour error compensation was proposed based on active disturbance rejection control,which consisted of a novel non-linear PID (NLPID) for position loop feedback control and contour error compensation, position servo controller TNP-ADRC and a variable gain cross-coupled controller based on NLPID.The modification of contour error during square wave signal tracking and standard circular contour processing was simulated in the MATLAB/Simulink environment.The simulation results demonstrate that this method can greatly improve the contour processing precision of multi-axis motion control systems while also can effectively enhance the robustness of the system and disturbance rejection capabilities compared to the conventional PID cross-coupled control.