  We develop a predictor-feedback control design for multi-input nonlinear
systems with distinct input delays, of arbitrary length, in each individual
input channel. Due to the fact that different input signals reach the plant at
different time instants, the key design challenge, which we resolve, is the
construction of the predictors of the plant's state over distinct prediction
horizons such that the corresponding input delays are compensated. Global
asymptotic stability of the closed-loop system is established by utilizing
arguments based on Lyapunov functionals or estimates on solutions. We
specialize our methodology to linear systems for which the predictor-feedback
control laws are available explicitly and for which global exponential
stability is achievable. A detailed example is provided dealing with the
stabilization of the nonholonomic unicycle, subject to two different input
delays affecting the speed and turning rate, for the illustration of our
methodology.
