System and method for controlling a marine vessel

A system for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

• a processor that is configured to provide a first set of actuator control signals and a second set of actuator control signals,
• wherein the first set of actuator control signals is coupled to the first and second steerable propulsors and controls the first and second steerable propulsors and the second set of actuator control signals is coupled to the first and second trim deflectors and controls the first and second trim deflectors,
• wherein the processor is configured to provide the first set of actuator control signals and the second set of actuator control signals to induce, to the marine vessel, at least one of:
• a net yawing force by controlling at least one of the first and second steerable propulsors while at least partially countering a rolling force produced by the at least one of the first and second steerable propulsors by controlling at least one of the first and second trim deflectors;
• or
• a net rolling force by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.

A method for controlling a marine vessel having first and second steerable propulsors and first and second trim deflectors, comprising:

• generating at least a first set of actuator control signals and a second set of actuator control signals;
• coupling the first set of actuator control signals to the first and second steerable propulsors and controlling the first and second steerable propulsors using the first set of actuator control signals;
• coupling the second set of actuator control signals to the first and second trim deflectors and controlling the first and second trim deflectors using the second set of actuator control signals;
• and
• inducing a net rolling force to the marine vessel by controlling at least one of the first and second trim deflectors while at least partially countering a yawing force produced by the at least one of the first and second trim deflectors by controlling at least one of the first and second steerable propulsors.