This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode’s switching for each agent. So the matched controller is interrupted by the delayed switching. For the situation, the authors give some new results by applying the conventional distributed control protocol. The authors show that all agents can achieve consensus. Secondly, the authors show that all followers can track the actual leader. Thirdly, the authors show that all followers will converge to the convex hull spanned by the dynamic leaders as time goes on. Numerical simulations are also provided and the results show highly consistent with the theoretical results.