In this dissertation, a super-twising sliding controller based on hierarchical sliding mode control is developed for the model of 3D overhead cranes in case of linearizing the dynamical equations hardly and high-frequency oscillation of the sliding mode controller, in order to achieve accturate positioning and anti swing angle effectively during the load mass and rope length constantly changing. The stability and accessibility of this controller are proved by constructing Lyapunov functions, buliding physical model to validate research, consistency of the simulation and experimental results proves this controller is effective in anti swing. The above results show that this controller can eliminate oscillation, keeping payload swings small and robustness of the system, it has important theoretical significance and application potenial.