The semi-active suspension system plays a crucial role in improving the ride comfort and handling stability of vehicles. To maintain the stable sliding mode of vehicle semi-active suspension system and avoid oscillations caused by the suspension control force, this paper introduces the ideal Sky-Hook-Acceleration Driven Damper (Ideal SH-ADD) system as the reference model. Besides, the corresponding responses are set as the reference for the semi-active suspension control. The rationality of the reference model is verified through frequency-domain analysis. Furthermore, the error dynamics model between the actual controlled system and the ideal model is established, which considers the constraints of actuator force and employs a reaching law to regulate the chattering phenomenon during the sliding mode control. Finally, the Adams/Simulink co-simulation platform is built to verify the control performance on ISO-B class random road. The results indicate that, compared to the passive suspension and traditional SH-ADD control, the acceleration of vehicle sprung mass is significantly optimized by 44.49% and 8.29%, respectively.