This paper describes the design and implementation of a controller to track the desired heading angle for an unmanned ground vehicle (UGV) considering the limits on rotation of steering wheel and steering motor rate. The well-known “bicycle model” approximation, that considers the vehicle slip angle and ground-wheel interaction, has been used. In this work, combined closed loop control for steering motor and heading angle of the vehicle has been considered for better accuracy. The challenge in designing this control system is to include the actuator dynamics as the response time to steer the front wheel is in the same order as that of the heading angle dynamics of the vehicle. Experiments have been conducted, analysis of data collected is presented and the resulting mathematical representation is explained in detail. Results from both simulation and experimental implementation are also compared. It has been found that the vehicle controller can be tuned effectively to achieve the desired heading angle changes up to twenty degrees within three seconds when the vehicle is moving at a speed of 1.4 m/sec.