The transportation problem of an offshore platform without active actuators is tackled in this paper. Such a platform cannot move on its own and requires assistance from external boats for transportation. A novel configuration of two pushing tugboats and two towing ones is adopted along with a proposed robust control system. For this, the mathematical model of the entire transport system is first derived. Secondly, an optimal constrained allocation determines the relative angles and forces desired from the tugboats. Then, an H∞ controller is designed from a transformed system model and ensures the H∞ performance of the closed-loop control system. Finally, the simulation results in a berthing scenario validate that the proposed system can achieve proper movement of the platform while consuming space more effectively in comparison to existing systems.