An articulated gangway which comprises at least one fixed part fixedly mountable on a sea going vessel, a movable part being movable relative to the fixed part, and at least one actuator for moving the movable part relative to the fixed part, the gangway comprising an apparatus for providing activemotion compensation control in the maneuvering of said gangway, characterized in that the apparatus comprises: a first position reference device being adapted to provide, on a first output, position and attitude information ( m) of the vessel referenced to earth, a second position reference device being adapted to provide, on a second output, position and attitude information ( y) of the movable part referenced to the gangway, an actuator driver device having adapted to generate an actuator control output in response to a regulator signal, and an active motion compensation controller device having first and second inputs connected to respective ones of said first and second outputs, an operator input for receiving an operator control input, and a third input for receiving velocity information ( ẏ) of the movable part referenced to the gangway, wherein the active motion compensation controller device comprises - a differential kinematic ( DiffKin) device adapted to compute and output a current position ( p) and velocity ( v) of the gangway endpoint referenced to earth in response to inputs of said position and attitude information ( m) of the vessel and said position and attitude information ( y) of the movable part, - an active motion compensation device adapted to compute and output a reference position ( p) and velocity ( v) of the gangway endpoint referenced to the vessel in response to inputs of said operator control input and said current position ( p) and velocity ( v) computed by the DiffKin, - an inversekinematic ( Inv) device adapted to compute and output a position reference ( α) and velocity reference ( α̇) of the gangway endpoint referenced to the gangway in response to inputs of said reference position ( p) and velocity ( v) computed by the AMC, and - a regulator (Regulator) device adapted to compute and output said regulating signal in response to inputs of said a position reference ( α) and velocity reference ( α̇) computed by the AMC. a first position reference device being adapted to provide, on a first output, position and attitude information ( m) of the vessel referenced to earth, a second position reference device being adapted to provide, on a second output, position and attitude information ( y) of the movable part referenced to the gangway, an actuator driver device having adapted to generate an actuator control output in response to a regulator signal, and an active motion compensation controller device having first and second inputs connected to respective ones of said first and second outputs, an operator input for receiving an operator control input, and a third input for receiving velocity information ( ẏ) of the movable part referenced to the gangway, wherein the active motion compensation controller device comprises - a differential kinematic ( DiffKin) device adapted to compute and output a current position ( p) and velocity ( v) of the gangway endpoint referenced to earth in response to inputs of said position and attitude information ( m) of the vessel and said position and attitude information ( y) of the movable part, - an active motion compensation device adapted to compute and output a reference position ( p) and velocity ( v) of the gangway endpoint referenced to the vessel in response to inputs of said operator control input and said current position ( p) and velocity ( v) computed by the DiffKin, - an inversekinematic ( Inv) device adapted to compute and output a position reference ( α) and velocity reference ( α̇) of the gangway endpoint referenced to the gangway in response to inputs of said reference position ( p) and velocity ( v) computed by the AMC, and - a regulator (Regulator) device adapted to compute and output said regulating signal in response to inputs of said a position reference ( α) and velocity reference ( α̇) computed by the AMC. - a differential kinematic ( DiffKin) device adapted to compute and output a current position ( p) and velocity ( v) of the gangway endpoint referenced to earth in response to inputs of said position and attitude information ( m) of the vessel and said position and attitude information ( y) of the movable part, - an active motion compensation device adapted to compute and output a reference position ( p) and velocity ( v) of the gangway endpoint referenced to the vessel in response to inputs of said operator control input and said current position ( p) and velocity ( v) computed by the DiffKin, - an inversekinematic ( Inv) device adapted to compute and output a position reference ( α) and velocity reference ( α̇) of the gangway endpoint referenced to the gangway in response to inputs of said reference position ( p) and velocity ( v) computed by the AMC, and - a regulator (Regulator) device adapted to compute and output said regulating signal in response to inputs of said a position reference ( α) and velocity reference ( α̇) computed by the AMC.