Trust management is one of the most challenging issues for the highly heterogeneous Internet of Things (IoT). In the context of the IoT, it is difficult to evaluate the node’s trustworthiness in the same trust model when a node provides different services. Guaranteeing the availability of the trust management service is another significant challenge because of the dynamic nature of IoT environments. With these issues in mind, this paper propose a robust and adaptive trust management system for the IoT that is able to measure the trustworthiness of nodes based on feedbacks collected from participants in a specific context and ensure the availability of trust management services. The main contributions of our system are: 1) Proposing a partly decentralized trust management framework, which improves the resiliency of the trust mechanism; 2) Proposing an adaptive trust evaluation scheme and a three-dimensional context representation makes trust evaluation more accurate and specific; 3) Enhancing the adaptive trust evaluation scheme by incorporating a bad behavior factor in trust estimation, which efficiently distinguishes misleading feedbacks from On-Off attacks. Simulation results show the good performance of the proposed system and especially show effectiveness against On-Off attacks compared to other trust mechanisms.