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An underactuated tower crane exhibits a significant payload sway especially under three simultaneous motions involving trolley displacement, jib rotation and payload hoisting. This paper proposes an input shaper with an adaptive scheme for payload swing control of a tower crane under those effects together with varying cable lengths for payload hoisting and various payload masses. The control approach has an advantage in its capability to adapt and update the Zero Vibration Derivative shaper parameters in real-time according to the changes in the system parameters. This is achieved by using a non-linear input–output mapping of the parameters developed using the neural network. To test the effectiveness of the proposed controller, experiments are carried out on a laboratory tower crane under several challenging conditions involving payload lowering and lifting operations, variation in speeds of motion, and …