In a plasma containing micrometer-size dust particles, nonlinear wave synchronization was investigated experimentally under microgravity conditions on board the International Space Station (ISS). These dust particles were confined into a 3-D cloud, in the vicinity of a diffuse edge of the plasma, which was generated by an inductively coupled radio frequency (RF) glow discharge. A cross-sectional slab of the cloud was imaged using a video camera. The dust-density fluctuations in the slab were characterized using the video image data. A steady and longlived dust acoustic wave (DAW) was observed to be spontaneously generated in the cloud; it propagated through the dust cloud, which had a gradually varying density distribution. Two kinds of spectral analyses of the wave motion were performed, using Fourier transforms and Hilbert transforms, respectively; these revealed two distinctive spatial domains in the cloud, termed frequency clusters. Within each cluster, waves were found to oscillate at a dominant frequency that remained constant, manifesting mutual synchronization throughout the cluster. Across the two clusters, the dominant frequency exhibited a step-wise change, with a frequency ratio of 2:1, which is consistent with phase-lock conditions for a harmonic synchronization state.