Please note that ICONs go into 'sleep mode' after three minutes of inactivity and will stop advertising Bluetooth, you can wake them up by simply giving them a shake.
If you are still unable to connect to your ICON, then we would firstly advise a complete reset. To do the reset, plug ICON into power for a few minutes, and then remove the USB. Also, remove the ICON app from your phone by uninstalling it, then re-install it from the app store. Then attempt to connect and control your ICON/s.