| In this thesis multiple controllers are developed which command a small boat with twin tied outboard motors to hold a desired position. In the process of developing a controller to hold a position, controllers were first developed which follow a desired heading or path over ground with the motors outputting constant thrust. These heading and path following controllers were tuned and tested in a numerical simulation, then validated on the R/V Lee and Ocean Power vessels through sea trials in the Atlantic Ocean. After successful path following trials were performed, station keeping algorithms were developed and tuned in the numerical simulation, now with heading and thrust of the vessel both being variables to be controlled. After tuning in the numerical simulation, the Ocean power vessel was outfitted with systems for controlling throttle and steering with sea trials conducted in the Atlantic Ocean for station keeping. |
