Crane systems are extensively employed in industries and transportation applications. However, during operation, these cranes generate undesirable payload vibrations, leading to operational challenges and safety concerns. This issue is particularly prevalent in the case of double-pendulum cranes. Extensive studies have been conducted on the issue of crane vibration during operation, leading to the proposal of several position control and anti-vibration techniques for cranes. This paper proposes a combination controller that utilizes Improved Active Disturbance Rejection Control (IADRC) for trolley position control and Input Shaping techniques to suppress multi-mode payload vibration. The efficiency of the proposed controller has been verified by experiment on 2D double pendulum gantry crane model.