Outdoor wireless sensor networks (WSNs) operate autonomously in dynamic and unattended real-world environments, where sensor nodes are typically powered by their batteries. In hash outdoor settings, such as mountainous regions or underwater locations, recharging or replacing sensor node batteries is particularly challenging. For these WSN deployments, ensuring quality of service (QoS) control while conserving energy is crucial. This paper presents a novel QoS control algorithm for WSNs, built on extensions to the Gur game framework. The proposed approach not only enhances QoS performance compared to existing Gur game-based WSN control algorithms but also addresses their fundamental energy consumption challenges, enabling sustainable communication and extended network lifetimes. We evaluate the approach through comprehensive TinyOS-based WSN simulations and comparisons with existing algorithms. The results demonstrate that our approach, referred to as the robust Gur game, significantly enhances QoS control and achieves a 27.33% improvement in energy efficiency over the original Gur game and shuffle algorithms, showcasing the significant benefits of the proposed method.