Abstract: Motivation for the examination of position and waypoint controllers is sought after for Wave Adaptive Measured Vessel (WAM-V) fit for satisfying different valuable applications. Consequently, this study manages the improvement of a GPS based position control framework for WAM-V ready to explore between waypoints. A waypoint direction calculation is examined with the twofold circle criticism controller. The external circle is fluffy contemplated and produce the coveted heading. The inward circle is a PID controller with push designation summon. This control configuration incredibly streamlines the control configuration prepare and effectively connected to under actuated sailboat vessel WAM-V. The fluffy thinking decently speaks to the conduct and basic leadership practically like human administrator. In light of the moving investigations, the query table is produced for push distribution. The WAM-V is prepared without rudder, subsequently it is driven by a blend of various pushes to control both speed and heading. The proposed control plot performed well in the trials and utilizing that trial information recreation is progressed. The gotten comes about asserted that the fluffy waypoint direction control calculation is capable to understand the self-sufficient route way arranging.