In this chapter, for the interconnected nonlinear systems, which is subject to unknown time-delays and nonlinear dead-zone, their tracking control problem is discussed. Combining adaptive control with other control techniques, a decentralized variable structure control scheme is developed, where the traditional assumptions in the existing literatures, namely, the slopes of the dead-zone should be same and the boundaries of the dead-zone should be equal, has been removed. Furthermore, for the dead-zone, the exact values of their parameters are not needed in the scheme. In addition, the boundary of the system uncertainty doesn’t have to be known. The parameter estimation and modeling errors have been compensated and their impacts have been minimized. From Lyapunov stability theory, it has been proven that all the closed-loop signals are asymptotic bounded and tracking errors asymptotically convergence to the origin. Finally, the effectiveness of the scheme has been demonstrated simulation results.