This paper proposes an energy-saving robust tracking control method for active suspension systems with a bio-inspired reference model and nonlinear extended state observer (NLESO). According to the principle of cheetah running biology, a bionic structure with nonlinear quasi-zero stiffness is designed, which also has ideal Sky-hook damping and vibration-absorbing mass. An NLESO is designed to estimate the total uncertain disturbance and the state of sprung mass in the suspension system, and then an energy-saving robust tracking controller is proposed. The controller consumes less control energy while isolating the vibration of the sprung mass, thus improving the riding comfort of vehicles and saving energy. The simulation results show that, compared with the reference control method, the vertical acceleration of the sprung mass is reduced by 80.68% and 92.42% respectively in the class C road and bump road conditions and the control energy is decreased by 31.71% and 30.50%, respectively. The control effect of the proposed controller for the active suspension system is verified.
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