Integral invariant of Poincaré-Chetaev system

In this paper,the integral invariant of Poincaré Chetaev system including the Poincaré Cartan integral invariant and the Poincaré linear integral invariant is studied.The Poincaré cartan integral invariant and the Poincaré linear integral invariant of the Poincaré Chetaev system are obtained by using the formula of the asynchronous variation of Hamilton action and the Poincaré Chetaev equations.Finally,two examples to illustrate the application of the result are given.