Text this: Distributed robust fault-tolerant consensus control for a class of nonlinear multi-agent systems with intermittent communications

   _____     ___     _    _     _____             
  / ___//   / _ \\  | || | ||  |  ___||     ___   
  \___ \\  / //\ \\ | || | ||  | ||__      /   || 
  /    // |  ___  ||| \\_/ ||  | ||__     | [] || 
 /____//  |_||  |_|| \____//   |_____||    \__ || 
`-----`   `-`   `-`   `---`    `-----`      -|_|| 
                                             `-`