You certainly picked a topic that gives you a healthy dose of learning and effort, and no effort is wasted because you definitely must have learned something, right?
I've wanted to toy with physics-based controllers as well, but it can be super difficult to balance everything just right. Since you're doing some sort of hovercraft type control, I'd suggest a ring of force-emitting objects that you then increase or decrease the amount of thrust on one side or another for movement.
Would be cool to see what you come up with, but that's about all the help I can offer.