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Under the proposed control strategy, unknown time delays are estimated with the help of adaptation mechanism and projection operator, which abandons the use of the conventional Lyapunov-Krasovskii functional method and avoids the discussion of controller singularity problem. It is mentioned that most of current reported results on adaptive control of nonlinear delay systems under fuzzy approximation are semi-globally bounded. To achieve the asymptotic control objective, the upper bounds of approximation errors and other residual errors are properly estimated by establishing appropriate adaptive laws. Based on the estimation information of time delays and errors bounds, a novel adaptive sliding tracking control scheme is developed such that the tracking error will be forced to keep sliding along the origin once the upper bounds are reached. Therefore, the asymptotic tracking control objective is achieved. 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