Yes, there is and the simplest solutions is to use JWT, you can implement jwt authentication in you node.js server with any approach you want like: passport-jwt, express-jwt,... or even yourself with just jsonwebtoken npm package.
then for keeping mobile application authenticated with server, store the jwt token in mobile local storage and when app is opened just check the storage for if the token is exist or not and when there is jut add the token to the header and practically your mobile app keep a seesion open with server.
and for more information about jwt i ask a question about difference between session and cookie that might help you:
Authentication: JWT usage vs session