An　adaptive　control　method　based　on　immersion　and　invariance　(I&I)　is　presented　in　a　class　of　nonlinear　systems　with　time-varying　uncertain　parameters.　A　parameter　estimation　law　based　on　reference　models　using　I&I　is　designed　to　accelerate　the　convergence　of　estimated　parameters　to　the　true　value,　enabling　the　closed-loop　system　to　reach　the　predefined　target　system　on　the　manifold　more　quickly　and　reducing　the　energy　consumption　of　the　system.　The　inherent　integrability　obstacles　in　I&I　are　overcome　by　using　dynamic　scaling　techniques,　reducing　the　complexity　of　controller　design.　Stability　analysis　of　the　closed-loop　system　demonstrates　that　the　proposed　control　method　can　achieve　asymptotic　stability　control　of　the　target　system,　and　verified　the　robustness　of　the　closed-loop　system　in　the　face　of　external　disturbances.　Finally,　simulations　of　attitude　tracking　control　demonstrate　the　effectiveness　and　superiority　of　the　proposed　method.