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

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