Resonant interaction of a soliton (Josephson fluxon) with its self-generated Josephson plasma waves is studied experimentally, numerically, and analytically. An externally applied magnetic field H forms a cos-like potential relief for the soliton in the annular junction. Soliton motion under the influence of the bias current leads to an emission of plasma waves, which gives rise to a resonance at a certain soliton velocity. This resonance on the current–voltage characteristics shows a clear backbending accompanied by a negative differential resistance. Our analysis quantitatively explains the observed effect.