A control system for controlling movement, position, or force for a mechanically connected object comprising a plurality of marine vessels. The control system includes at least one processor configured to: receive a movement, position or force command for the mechanically connected object; and generate at least one first command for a first marine vessel of the plurality of marine vessels and at least one second command for a second marine vessel of the plurality of marine vessels, to control movement, position, or force of the mechanically connected object in response to the movement, position or force command for the mechanically connected object.