The prescribed performance control (PPC) scheme enables constraint satisfaction in controlled dynamical systems by mapping state constraints into state-dependent auxiliary variable constraints. This paper explores the application of augmented PPC formulations for performance satisfaction in nonlinear second-order systems. The readjustable prescribed performance control (RPPC) scheme, associated with tracking errors, allows for the enhancement of dynamic control behaviors that cannot be addressed by relying solely on temporal variables. Corresponding performance boundaries are dynamically adjusted in response to tracking error variations through dynamic performance functions. Barrier functions incorporating dynamic performance functions are introduced to transform performance constraints into boundedness problems. An adaptive method is utilized to provide appropriate estimates of both state-dependent disturbances and their internal parameters. Detailed simulation results demonstrate the effectiveness of the proposed scheme.
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