Exact invariants and adiabatic invariants of the singular Lagrange system

Based on the theory of symmetries and conserved quantities of the singular Lagrange system, the perturbations to the symmetries and adiabatic invariants of the singular Lagrange systems are discussed. Firstly, the concept of higher-order adiabatic invariants of the singular Lagrange system is proposed. Then, the conditions for the existence of the exact invariants and adiabatic invariants are proved, and their forms are given. Finally, an example is presented to illustrate these results.