  In this article, we generalize the work of H.Hida and V.Pilloni to construct
$p$-adic families of $\mu$-ordinary modular forms on Shimura varieties of Hodge
type $Sh(G,X)$ associated to a Shimura datum $(G,X)$ where $G$ is a connected
reductive group over $\mathbb{Q}$ and is unramified at $p$, such that the
adjoint quotient $G^\mathrm{ad}$ has no simple factors isomorphic to
$\mathrm{PGL}_2$.
