The dynamic and control of a system consisting of a turret-Floating Production Storage and
Offloading and a shuttle ship in tandem formation are investigated. The study comprises the
analysis of the influence of the turret's position along production ship in the static and
dynamic behaviour of the system. The static analysis has shown that the shuttle ship is
always parallel with the current direction, and the production ship heading angle exhibits a
bifurcation as turret position is moved toward the centre of the gravity in the equilibrium …