A PI consensus controller with gossip communication for clock synchronization in wireless sensors networks*

In this paper a distributed clock synchronization algorithm is proposed. The algorithm requires gossip asynchronous communication between the nodes of the network, and because of its proportional-integral (PI) structure it is able to compensate both initial offsets and different clock speeds. Convergence of the algorithm is proved and analysed with respect to the controller parameter, while scalability issues are addressed by simulations.