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.

翻译：本文针对室内飞艇的手动控制难题提出了一种创新解决方案。该问题的复杂性源于执行人类指令与通过自动控制维持欠驱动机器人稳定性之间的冲突需求。为解决这一挑战，我们设计了一种具有抢占机制的辅助驾驶混合控制器，能够在执行人类指令与激活自动稳定控制之间实现无缝切换。该算法确保自动稳定控制器在人类观察与感知的时间延迟内运行，从而以驾驶员难以察觉的方式提供辅助支持。