A family of orthogonal systems of irrational functions on the semi-infinite interval is introduced. The proposed orthogonal systems are based on Jacobi polynomials through an irrational coordinate transform. This family of orthogonal systems offers great flexibility to match a wide range of asymptotic behaviors at infinity. Approximation errors by the basic orthogonal projection and various other orthogonal projections related to partial differential equations in unbounded domains are established. As an example of applications, a Galerkin approximation using the proposed irrational functions to an exterior problem is analyzed and implemented. Numerical results in agreement with our theoretical estimates are presented.