This paper considers the consensus problem of high-order nonlinear continuous-time systems with limited communication rate. With the aid of dynamic encoding and decoding, distributed controllers are proposed such that the states of a group of systems without uncertainty reach consensus. If there is uncertainty in each system, an inner-loop and outer-loop controller design approach is proposed. With the aid of this approach, distributed dynamic controllers are designed such that the states of a group of systems reach consensus. Simulations show the effectiveness of the proposed controllers.