Contour error is the key index to evaluate the accuracy of the biaxial control system, and the system time delay will lead to the delay transmission and response of the control command, which will lead to the contour error of the system. Cross-coupling control (CCC) is widely used in contour error control but it has some difficulties in adjustment and stability. Therefore, an improved cross-coupling control (ICCC) strategy is proposed in this paper to solve the problem of poor real-time performance. Firstly, the causes of contour errors are analyzed and simplified modeling is carried out. Then the contour errors are transformed into system delay and the prediction compensation is carried out according to the unified modeling idea. Finally, the contour error estimation module and delay prediction are combined to form an improved cross-coupled central controller, which converts contour error compensation into system delay. In this paper, the results of MATLAB simulation show that the maximum single-axis tracking error is 1.4mm by using the ICCC strategy to track the complex trajectory with large curvature. Compared with the CCC strategy, the error accuracy of the ICCC strategy is increased by 47.1%, and the control effect is better.