This project aims to design and implement the guidance and control systems for various autonomous vehicles. Multi loop control will be used to calculate a trajectory that leads to a desired position, and then calculates the required actuation commands to reach that desired position. The work ahead lies in verifying the mathematical model of the vehicles, and then implementing various control theories and algorithms including adaptive control and trajectory tracking control. Once the control system is completed, it will be simulated extensively using MATLAB Simulink to prove robustness. Then, the control system will be implemented onto different autonomous vehicles for further testing.