Sharepoint 2013 Workflow Error Invalid JWT token

I had a Sharepoint 2013 Workflow in my site. 

I have configured Workflow manager correctly.

But my workflows weren't running fine. Its status is always "Workflow Cancelled"

When I click the details, it showed the below error

RequestorId: c4f69ed9-ce23-c0b4-b587-620ae350f156. Details: System.ApplicationException: HTTP 401 {"error_description":"Invalid JWT token. Could not resolve issuer token."}

Solution

Run the timer job "Refresh Trusted Security Token Services Metadata feed" to fix the issue