Controlling A Marine Vehicle Propulsion System

A propulsion system for a marine vehicle, comprising a cyclorotor propeller, an actuator arrangement, and a controller;

• the controller comprising one or more processors and one or more memories including computer program code;
• the one or more memories and the computer program code being configured to, with the one or more processors, cause at least the controller to receive a request including at least one force request and/or at least one torque request, and determine values for a set of control parameters based on the request;
• and
• the actuator arrangement being configured to at least control the cyclorotor propeller based on the values for the set of control parameters received from the controller.

A propulsion apparatus comprising a cyclorotor propeller, the cyclorotor propeller including at least one cyclorotor propeller wheel with at least two controllable blades attached to the wheel, wherein the propulsion apparatus is configured to:

• receive a request including at least one force request and/or at least one torque request;
• determine values for a set of control parameters based on the request;
• and
• control the cyclorotor propeller based on the values determined for the set of control parameters.