System for controlling movements of a marine surface vessel

A method for controlling a movements of a marine surface vessel comprising a hull, a bow, and a stern, the method comprising

• receiving signals representative of a desired position of the vessel in a geographic coordinate system,
• receiving signals representative of an actual position of the vessel in the geographic coordinate system,
• wherein the vessel comprises one or more flapping fins for controlling movements of the vessel by interaction with water supporting the vessel, controlling, in dependence on the signals representative of the desired position, and on the signals representative of the actual position, one or more of the one or more flapping fins, to keep the vessel at the desired position by rotation of the one or more flapping fins to generate thrust through interaction between rotation of the one or more flapping fins and the water supporting the vessel,
• receiving signals representative of a roll angle and/or a roll rate of the vessel, and
• controlling movements of one or more of the one or more flapping fins in dependence on the signals representative of the roll angle and/or the roll rate so as to decrease the roll angle and/or the roll rate.

A method for controlling a movements of a marine surface vessel comprising a hull, a bow, and a stern, the method comprising:

• receiving signals representative of a desired position of the vessel in a geographic coordinate system,
• receiving signals representative of an actual position of the vessel in the geographic coordinate system,
• wherein the vessel comprises one or more flapping fins for controlling movements of the vessel by interaction with water supporting the vessel, controlling in dependence on the signals representative of the desired position, and on the signals representative of the actual position, one or more of the one or more flapping fins, to keep the vessel at the desired position by rotation of the one or more flapping fins to generate thrust through interaction between rotation of the one or more flapping fins and the water supporting the vessel, and
• determining in dependence on the signals representative of the desired position, and on the signals representative of the actual position, a direction of movement of the vessel in relation to the desired position, and controlling the movements of one or more of the one or more flapping fins in dependence on the determined direction of movement of the vessel, so as for the bow of the vessel to point in a direction which is opposite to the determined direction of movement.