This paper presents a novel approach based on the Model-Driven Architecture (MDA) to systematically analyze, design and implement controllers of Autonomous Surface Vessels (ASV). It brings out main steps to entirely specify the requirement analysis, design and deployment phases of these systems. In this approach, the authors adapt the ASV dynamic model for control, and specialize MDA's features such as the Computation Independent Model (CIM) combined with the use-case model and hybrid automata, the Platform Independent Model (PIM) carried out by using the real-time Unified Modeling Language (UML)/System Modeling Language (SysML), and its Platform Specific Model (PSM) implemented by object-oriented mechanisms to completely perform the development lifecycle of ASV controller. This approach is then applied to implement and deploy a horizontal planar trajectory-tracking controller for a miniature autonomous marine vehicle. In this application, the PIM is converted into the PSM by using the open-source platform in order to quickly simulate and realize the operational functionalities of control system.