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We constitute a control system for overhead crane with simultaneous motion of trolley and payload hoist to destinations and suppression of payload swing. Controller core made by sliding mode control (SMC) assures the robustness. This control structure is inflexible since using fixed gains. For overcoming this weakness, we integrate variable fractional-order derivative into SMC that leads to an adaptive system with adjustable parameters. We use Mittag–Leffler stability, an enhanced version ofdoi:10.51316/jst.150.ssad.2021.31.1.9 fatcat:gulzqchuynhgpn5bly2bmlhvqa