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That sounds similar to what I built for my RC car (I think). The way I made the mechanical speed controller was that I had 3 contact points on a surface and an armature that was moved by a servo. The first contact point used two resistors to cut the power back for slow movement and early acceleration. The second contact point used just one of the resistors so you received more current to the motor then before. The final contact just went straight through from the battery to the motor, no resistors...Something like that in a larger scale with more variable points might work well for this application. It's not a solid state solution but it would definitely get the job done, all be it inefficiently.
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