Technological systems are becoming bigger and more complex, which has awakened the interest of developing new tools of cooperative control. Distributed consensus protocols are polices based only on local information that allows the implementation of cooperative control in multi-agent systems. In this paper, we proposed a new method to deal with the consensus problem with agents that presents nonlinear dynamics. In contrast to classical linearization at an operation point, we proposed a Carleman approximation for a generic nonlinear dynamic system, where the control in real time is improved. Simulation results for a multi-agent nonlinear system show the efficiency and performance of the designed methodology.