Education and then code.
There is nothing built into JIRA that will do this. A well run, well behaved Agile team don't need to have process forced upon them, so there is nothing coded into JIRA to do this. It assumes your team know what they're doing and see the benefits of closing sprints at the right time.
If you simply can get them to do this, then you will need code. I'd actually recommend reviewing why your teams are failing first, then gentle reminders before force - write reports that show which teams are not completing stuff correctly and take them to task on it. Reports are easier to write than the changes to the core of the Agile addon you'd have to do to dictate sprint length and closure.
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