Impetuous by nature, the young knights led a charge against the Byzantine lines, defeating the Despot Manuel Kantakouzenos and forcing him to retire.
Later Centurione was part of a Morean embassy sent to the Kingdom of Naples and precisely to Queen Joanna I and during his absence from Achaea Andronikos acted as a Bailee of the Principality for a short time.
[9][10] In 1387 Superan renewed a treaty of friendly relations with Venice after he consulted a court of lords of the Principality, among them was Andronikos as Baron of Chalandritsa and Grand Constable.
Nerio urged that his son-in-law Theodore Palaiologos had conquered Argos without his consent and pledged that he would try to convince him to pass it back to the Venetian Republic.
[16] In 1396, he received a letter from Pope Boniface IX, which extended papal protection over him and urged him to vigorously fight against the growing menace of the Ottoman Turks.