  This paper extends our previous study on an explicit saturated control for a
quadcopter, which ensures both constraint satisfaction and stability thanks to
the linear representation of the system in the flat output space. The novelty
here resides in the adaptivity of the controller's gain to enhance the system's
performance without exciting its parasitic dynamics and avoid lavishing the
input actuation with excessively high gain parameters. Moreover, we provide a
thorough robustness analysis of the proposed controller when additive
disturbances are affecting the system behavior. Finally, simulation and
experimental tests validate the proposed controller.
