  This paper introduces a novel solution to the manual control challenge for
indoor blimps. The problem's complexity arises from the conflicting demands of
executing human commands while maintaining stability through automatic control
for underactuated robots. To tackle this challenge, we introduced an assisted
piloting hybrid controller with a preemptive mechanism, that seamlessly
switches between executing human commands and activating automatic
stabilization control. Our algorithm ensures that the automatic stabilization
controller operates within the time delay between human observation and
perception, providing assistance to the driver in a way that remains
imperceptible.
