Cross-linked drape control system is a nonlinear, time-varying, strong coupling and multi disturbance complex control system. In order to improve the anti-interference ability and robustness of the suspension control system, this paper puts forward a suspension control strategy based on ADRC. The ADRC is designed for the speed loop, current loop and flux linkage of the caterpillar AC asynchronous motor, the designed ADRC effectively improves the suspension control accuracy of the system. Considering the existence of time delay, the control performance of the system is reduced to a certain extent, the Smith predictor technology is introduced into the design of ADRC. An output predictive ADRC based on smith predictor is designed, which effectively reduces the influence of time delay and improves the robustness and anti-interference performance of the system. Finally, the simulation analysis is given, and the results verify the effectiveness of the designed composite controller.