<p>This study presents a Maclaurin series-based robust control design for oscillation suppression in overhead cranes operating under time-varying cable lengths. The proposed approach analytically formulates the crane’s nonlinear dynamics using Maclaurin series expansion, enabling an explicit and tractable representation of the hoisting motion. To enhance oscillation suppression, Zero-Vibration and Zero-Vibration and Derivative input shapers are developed and evaluated across different cable lengths and hoisting speeds. To emulate realistic operating conditions, physical constraints and actuator limitations are imposed on the shaped input, ensuring practical applicability. A robust input shaper is integrated into the control framework to minimize residual oscillations while maintaining insensitivity to uncertainties in cable length. The resulting formulation offers a generalized, adaptable, and analytical solution for crane motion control. The effectiveness of the proposed method is validated through comprehensive simulation and experimental verifications, confirming its superior oscillation suppression, improved motion smoothness, and strong robustness. Sensitivity analysis further demonstrate the method’s stability under diverse operational conditions.</p>