In this article, we investigated a generalised scalar field cosmology characterised by a time-dependent coupling function, a time-dependent cosmological constant, a chameleonic field, and a time-dependent equation of state parameter. Based on a particular choice of the Hubble parameter as function of the scalar field and its time derivative, we have investigated the dynamics of the Friedmann-Robertson-Walker flat universe. We have observed that for a particular choice of the free parameters in the theory, the universe accelerates with time and asymptotically tends toward a static universe. For specific values of the free parameters, the asymptotically static universe may be dominated by phantom energy or a cosmological constant without the need to implement in the theory multiple scalar fields or additional interactions. It is also pointed out that an asymptotically static universe is as well one special class of solutions for Horndeski and generalised galileons cosmologies. Special properties and features are discussed accordingly.