The protests have regularly occurred on Fridays, with as many as tens of thousands of Palestinians gathering at multiple locations along the Gaza fence.
The terms of the deal saw Doha, a longtime Hamas backer, pledge to pay $60 million (52 million euros) for fuel to be brought into Gaza over six months to supply the strip's sole power plant.
Hamas, the de facto governing authority in the Gaza strip, has orchestrated near-weekly protests along the border, pressing for an end to a stifling Israel-Egyptian blockade.
The order was issued by Israeli minister of military affairs Avigdor Lieberman.
PLO executive Ahmad Majdalani said his organization informed the United Nations that Mladenov's actions harmed "Palestinian national security and the unity of our people".
The Israeli army said five were shot dead after breaking through the border fence and attacking an army post.
Hamas had seized control of Gaza from Western-backed Palestinian President Mahmoud Abbas in 2007 and has since fought three wars with Israel, most recently in 2014.
Nicondra: Tropical Storm Michael Likely To Become A Hurricane
In Cuba on Sunday, Michael was expected to dump as much as 12 inches (30 cm) of rain in western parts of the island. A hurricane watch has been issued from the Alabama-Florida border eastward to the Suwanee River in Florida.
An Israeli soldier and a bystander were injured in a stabbing attack in the West Bank.
Israeli security personnel have been deployed in large numbers around the Palestinian village of Khan al-Ahmar, sources said. He says her husband saw a small group of settlers nearby.
Her husband, Aykube al-Rawbi (52), who was in the auto with Aisha, said the vehicle was pelted with rocks when they drove by an illegal Israeli settlement near Nablus, in the northern part of the occupied West Bank.
The area is near several ultranationalist Jewish settlements.
The woman's husband, Aykube al-Rawbi, 52, said he was driving by a settlement late on Friday after dark along a main road near the Palestinian city of Nablus and that he could not clearly see who pelted the vehicle.
A wave of mainly lone-wolf Palestinian attacks against Israelis in the West Bank erupted in 2015 but had largely abated.
At least 204 Palestinians have been martyred by Israeli fire in Gaza since protests began on March 30.
They added that Hamas leader Ismail Haniya also attended the protests east of Gaza City and hailed the ongoing demonstrations.