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In this research, fuzzy technique was considered to control an active suspension. The main targets in this study are elimination of the body bounce and pitch in normal ride and roll attitude as well as its bounce resulting from road bumps, on individual tires by using suspension system in both side of car and both axles. In order to have the ability to interpret the results of full model of vehicle in ADAMS, the method of crawl and walk and the classic models with lower degrees of freedom was used .The controller structure was designed in Matlab/Simulink. The full process was implemented using link between ADAMS as a multi-body dynamics simulator & Matlab as a control simulation environment. Finally ride comfort of vehicle equipped with fuzzy controller shows a considerable increase with respect to ISO 2631 criteria.