Is there a historical example or a manuscript about troop formation or fighting stance on a boat?

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As far as I know, "Instructions for training a ships crew in the use of arms in attack and defence" by Lieutenant William Pringle Green, is the first book on how a crew of the Royal Navy should train with swords and guns, how they should defend their ship in case of boarding, or to board an enemy vessel themselves.

The year of publication is 1812, so not the century you are looking for.

Green lists a series of errors that an untrained crew often make when fighting on a ship, and explain that with simple exercises, a small force can fight successfully even if outnumbered.

The text was digitalized by Royal Museums Greenwich and can be found here. I don't know if someone has already transcribed it.

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