For a class of nonlinear uncertain systems with input constraints and states constraints, a prescribed performance adaptive backstepping controller based on constrained command filtered is designed. By combining the adaptive backstepping technique, the constrained command filters are adopted to accommodate the constraints on input and states to avoid the tedious analytic computations of time derivatives. The pseudo control hedging(PCH) techniques are combined with the command filter to compensate the error. The scheme achieves preselected bounds on the transient performance on the compensation tracking error. Based on the Lyapunov stability theory, the proposed controller is designed. Simulations verify the correctness and effectiveness of the proposed method.