In order to solve the problem of traffic congestion and emission optimization of urban multi-class expressways, a robust dynamic nondominated sorting multi-objective genetic algorithm DFCM-RDNSGA-III based on density fuzzy c-means clustering method is proposed in this paper. Considering the three performance indicators of travel time, ramp queue and traffic emissions, the ramp metering and variable speed limit control schemes of an expressway are optimized to improve the main road and ramp traffic congestion, therefore achieving energy conservation and emission reduction. In the VISSIM simulation environment, a multi-on-ramp and multi-off-ramp road network is built to verify the performance of the algorithm. The results show that, compared with the existing algorithm NSGA-III, the DFCM-RDNSGA-III algorithm proposed in this paper can provide better ramp metering and variable speed limit control schemes in the process of road network peak formation and dissipation. In addition, the traffic congestion of expressways can be improved and energy conservation as well as emission reduction can also be realized.