Among the possible meanings of the word, this paper will discuss coordinated action to refer to the act on references of systems to achieve some collective behavior desired but considering the constraints and capabilities of each system. To this end, we develop a new methodology based on conditioning techniques reference using geometric invariance sets and sliding mode control. From a general framework, we propose two approaches: a global centralized one and a local through interactions between different systems. The approach addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g. linear and nonlinear, different orders, constraints, etc.).The main idea is to shape the systems local feasible references in order to keep them coordinated.To show the applicability of the approach, the problem of coordinating different dynamical systems with control saturations is addressed as a particular case with both global and local configuration.