In this paper, two active control schemes are presented to improve simultaneously vehicle ride comfort and steady-state handling performance. First, adaptive H controller is designed for nonlinear vehicle suspension systems with actuator time delay based on Genetic Algorithm Wavelet Support Vector Machines and then adaptive H controller is designed based on Genetic Algorithm Mixed Wavelet and RBF Support Vector Machines. The varying sprung and unsprung masses and the suspension performances with actuator delay are taken into account simultaneously, and the corresponding mathematical model is established. The most important feature of the proposed control strategy is its inherent robustness and its ability to handle the nonlinear behaviour of the system. Simulation results show that the designed controllers can achieve good active suspension performance regardless of the variation on the sprung mass in the presence of actuator time delay.