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Baumann, Michael (author), Biemond, J. J Benjamin (author), Leine, Remco I. (author), van de Wouw, N. (author)This paper addresses the controlled synchronization problem of mechanical systems subjected to a geometric unilateral constraint as well as the design of a switching coupling law to obtain synchronization. To define the synchronization problem, we propose a distance function induced by the quotient metric, which is based on an equivalence...conference paper 2016