This Thesis presents the work leading to the design of a closed loop control system for a prototype six-degree-of-freedom orbital inspection vehicle named Cerberus. Each of Cerberus' three compressed Nitrogen gas thrusters can be rotated about their elevation and azimuth axes, providing a thrust-vectored control capability. In order to test this capability in a simulated space environment Cerberus is mounted on the DAWN six-degree-of-freedom air-bearing vehicle. The control schemes presented in this thesis allow joystick control, station-keeping at a set distance from a moving target and inspection fly-around manoeuvres to be conducted before a docking procedure is initiated with a non-cooperative client vehicle. The following Thesis describes the decision-making process used to select the appropriate control scheme for each control mode, with the purpose of providing accurate position control for the module.