diff --git a/pkg/yurthub/autonomymanager/autonomy_manager.go b/pkg/yurthub/autonomymanager/autonomy_manager.go
index b6a3355dfee..993f0f04a9e 100644
--- a/pkg/yurthub/autonomymanager/autonomy_manager.go
+++ b/pkg/yurthub/autonomymanager/autonomy_manager.go
@@ -67,29 +67,26 @@ func NewAutonomyManager(restConfigMgr *hubrest.RestConfigManager, cacheMgr cache
 // utilize queue and wait
 func (am *AutonomyManager) Run(ctx context.Context) {
 	// 1.Consistency Validate every 20 seconds
-	go func() {
-		checkTicker := time.NewTicker(time.Second * 20)
-		defer checkTicker.Stop()
-		for {
-			select {
-			case <-checkTicker.C:
-				config := am.restConfigMgr.GetRestConfig(true)
-				if config == nil {
-					return
-				}
-				client, err := kubernetes.NewForConfig(config)
-				if err != nil {
-					return
-				}
-				am.ConsistencyValidate(client)
-			case <-ctx.Done():
-				return
-			}
+	go wait.JitterUntil(func() {
+		if am.restConfigMgr == nil {
+			return
 		}
-	}()
+		config := am.restConfigMgr.GetRestConfig(true)
+		if config == nil {
+			return
+		}
+		client, err := kubernetes.NewForConfig(config)
+		if err != nil {
+			return
+		}
+		am.ConsistencyValidate(client)
+	}, 20*time.Second, 2, true, ctx.Done())
 
 	// 2. Sync
-	go wait.Until(func() {
+	go wait.JitterUntil(func() {
+		if am.restConfigMgr == nil {
+			return
+		}
 		config := am.restConfigMgr.GetRestConfig(true)
 		if config == nil {
 			return
@@ -99,7 +96,7 @@ func (am *AutonomyManager) Run(ctx context.Context) {
 			return
 		}
 		am.Sync(dynamicClient)
-	}, 20*time.Second, ctx.Done())
+	}, 20*time.Second, 3, true, ctx.Done())
 
 	// 3. Update errorKeys
 	go func() {
@@ -205,7 +202,6 @@ func EnsureAutonomyCondition(client kubernetes.Interface, node *v1.Node, oldCond
 
 // Sync fetch object from api server and write it to cache manager
 func (am *AutonomyManager) Sync(dynamicClient dynamic.Interface) {
-
 	errorKey, quit := am.queue.Get()
 	if quit {
 		return
diff --git a/pkg/yurthub/autonomymanager/autonomy_manager_test.go b/pkg/yurthub/autonomymanager/autonomy_manager_test.go
index ec911eb3fd1..9ebc245883a 100644
--- a/pkg/yurthub/autonomymanager/autonomy_manager_test.go
+++ b/pkg/yurthub/autonomymanager/autonomy_manager_test.go
@@ -20,6 +20,7 @@ import (
 	"context"
 	"fmt"
 	"testing"
+	"time"
 
 	"github.com/stretchr/testify/assert"
 	v1 "k8s.io/api/core/v1"
@@ -278,3 +279,36 @@ func TestAutonomyManager_Sync(t *testing.T) {
 		})
 	}
 }
+
+func TestAutonomyManager_Run(t *testing.T) {
+	testcases := []struct {
+		name string
+	}{
+		{
+			name: "test1",
+		},
+	}
+	for _, tc := range testcases {
+		fakeClient := clientsetfake.NewSimpleClientset()
+		fakeSharedInformerFactory := informers.NewSharedInformerFactory(fakeClient, 0)
+		dStorage, err := disk.NewDiskStorage("/tmp/cache-manager")
+		if err != nil {
+			t.Errorf("failed to create disk storage, %v", err)
+		}
+		restRESTMapperMgr, err := hubmeta.NewRESTMapperManager("/tmp/cache-manager")
+		if err != nil {
+			t.Errorf("failed to create RESTMapper manager, %v", err)
+		}
+		sWrapper := cachemanager.NewStorageWrapper(dStorage)
+		serializerM := serializer.NewSerializerManager()
+		mgr := cachemanager.NewCacheManager(sWrapper, serializerM, restRESTMapperMgr, fakeSharedInformerFactory)
+		am, err := NewAutonomyManager(nil, mgr, tc.name)
+		if err != nil {
+			t.Errorf("failed to create autonomy manager, %v", err)
+		}
+		ctx, cancel := context.WithTimeout(context.Background(), 20*time.Second)
+		am.Run(ctx)
+		time.Sleep(20 * time.Second)
+		cancel()
+	}
+}
diff --git a/pkg/yurtmanager/controller/autonomy/autonomy_controller_test.go b/pkg/yurtmanager/controller/autonomy/autonomy_controller_test.go
index c1a5d8c5d82..6beb0b25383 100644
--- a/pkg/yurtmanager/controller/autonomy/autonomy_controller_test.go
+++ b/pkg/yurtmanager/controller/autonomy/autonomy_controller_test.go
@@ -31,6 +31,10 @@ import (
 	"github.com/openyurtio/openyurt/pkg/projectinfo"
 )
 
+func TestFormat(t *testing.T) {
+	assert.Equal(t, "autonomy-controller: autonomy-controller add controller Node", Format("autonomy-controller add controller %s", "Node"))
+}
+
 func TestReconcileAutonomy_Reconcile(t *testing.T) {
 	testcases := []struct {
 		name string
diff --git a/test/e2e/yurt/yurtstaticset.go b/test/e2e/yurt/yurtstaticset.go
index 3fe7803978c..3eacc14c830 100644
--- a/test/e2e/yurt/yurtstaticset.go
+++ b/test/e2e/yurt/yurtstaticset.go
@@ -40,7 +40,7 @@ const (
 
 var _ = Describe("yurtStaticSet Test", Ordered, func() {
 	ctx := context.Background()
-	timeout := 60 * time.Second
+	timeout := 90 * time.Second
 	k8sClient := ycfg.YurtE2eCfg.RuntimeClient
 	nodeToImageMap := make(map[string]string)