You didn't say which version of Ubuntu you are using on the client.
IIRC, recent Ubuntu's use dhclient to setup the IP address on your computer - this can perform actions (run scripts) when it exits. Just add a script in /etc/dhclient/dhclient-exit-hooks.d (check your local man page). Bear in mind that these will likely be invoked even when your existing IP lease is renewed (i.e. may fire in the absence of a network change). Have your script run a killall -HUP ssh if the IP address has changed.
Alternatively (or in addition) set a serverAliveInterval in the ssh config for this connection - this will test the connection at the speciied interval and terminate it if not working.