<p>Traditional hovercraft, equipped only with stern-mounted propellers and rudder actuation, are underactuated; the lack of independent lateral thrust limits maneuverability and precise path tracking. To address this limitation, we propose a novel hovercraft with four tilted propellers mounted in an X-shaped configuration, giving independent control of surge, sway, and yaw. The control strategy combines an Adaptive Line-of-Sight(ALOS)guidance algorithm, to generate the target course angle and estimate the crab angle, with a Model Reference Adaptive Control(MRAC) scheme to adapt to unknown, time-varying dynamics. Simulations and real-world experiments demonstrate improved path tracking and robust performance under varying loads and disturbance conditions. The findings confirm that the over-actuated structural design and the ALOS-MRAC architecture achieve enhanced tracking accuracy and resilience compared to conventional schemes.</p>