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An adaptive receding horizon control (RHC) algorithm for a class of nonlinear differential difference systems with multiple time delays is proposed. This work extends previous research dealing with RHC of nonlinear delayed systems in several ways: first, a rigorous proof is given for that the RHC guarantees global, uniformly asymptotic stability of the nonlinear delayed systems. Second, the nonlinear system with multiple time delays is considered. Third, the procedure of an adaptive RHC controller is presented by combining the on-line delay value estimation. Through a simulation example, it is demonstrated that the proposed adaptive RHC has the guaranteed closed-loop stability for a special type of nonlinear differential difference systems.