Abstract: With the development of wireless Internet of Things (IoT) devices, Radio frequency identification (RFID) has been used as a promising technology for the proliferation and communication in IoT networks. However, the RFID techniques are usually plagued with security and privacy issues due to the inherent weaknesses of underlying wireless radio communications. Although several RFID authentication mechanisms have been proposed to address the security concerns in RFID, most of them are still vulnerable to some active attacks, especially the jamming attack. This paper therefore proposes a novel self-adaptive authentication mechanism with a robust key updating, in order to tackle the security vulnerabilities of key updating algorithms and their inability to jamming attacks. Furthermore, we assess the performance and applicability of our solution with a thorough simulation by taking into account the energy consumption and authentication failure rate.