  This work investigates the consensus problem for multi-agent nonlinear
systems through the distributed real-time nonlinear receding horizon control
methodology. With this work, we develop a scheme to reach the consensus for
nonlinear multi agent systems under fixed directed/undirected graph(s) without
the need of any linearization techniques. For this purpose, the problem of
consensus is converted into an optimization problem and is directly solved by
the backwards sweep Riccati method to generate the control protocol which
results in a non-iterative algorithm. Stability analysis is conducted to
provide convergence guarantees of proposed scheme. In addition, an extension to
the leader-following consensus of nonlinear multi-agent systems is presented.
Several examples are provided to validate and demonstrate the effectiveness of
the presented scheme and the corresponding theoretical results.
