The consensus algorithm for the distributed clocks synchronization

In this talk we will first describe how the clocks synchronization problem can be modeled as a consensus algorithm for heterogeneous double integrators. We show two possible implementations of this consensus based clocks synchronization. The dynamics of one of these can be described as a discrete time nonlinear system, which is a perturbation of the linear system. Hence, using the center manifold theorem, we can prove that the proposed distributed clock synchronization algorithm yields local asymptotic synchronization.