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In this context, a model-based approach for control system design of maneuvering vessels is introduced. The resulting model is applied to a multivariable control system including allocation, feedforward, and feedback modules. The established hybrid control system distinguishes between a transit mode with control in two degrees of freedom in compliance with the prevailing traffic regulations and a dynamic positioning mode in three degrees of freedom for the final stages of a berthing maneuver. The supervisor switches automatically between these two modes. The methods are validated on board the German research vessel <jats:italic>DENEB<\/jats:italic> in the port of Rostock.<\/jats:p>","DOI":"10.1515\/auto-2021-0146","type":"journal-article","created":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T07:18:48Z","timestamp":1652339928000},"page":"456-468","source":"Crossref","is-referenced-by-count":10,"title":["Automated maneuvering using model-based control as key to autonomous shipping"],"prefix":"10.1515","volume":"70","author":[{"given":"Tobias","family":"Hahn","sequence":"first","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]},{"given":"Robert","family":"Damerius","sequence":"additional","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]},{"given":"Carsten","family":"Rethfeldt","sequence":"additional","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]},{"given":"Agnes U.","family":"Schubert","sequence":"additional","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]},{"given":"Martin","family":"Kurowski","sequence":"additional","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]},{"given":"Torsten","family":"Jeinsch","sequence":"additional","affiliation":[{"name":"9187 University of Rostock , Institute of Automation , Rostock , Germany"}]}],"member":"374","published-online":{"date-parts":[[2022,5,12]]},"reference":[{"key":"2023033111412070473_j_auto-2021-0146_ref_001","doi-asserted-by":"crossref","unstructured":"Alessandri, A., S. 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