Asynchronous Agreement through Distributed Coordination Algorithms Associated with Periodic Matrices * *The work of Qin was supported in part by China Scholarship Council (CSC). The work of Cao was supported by European Research Council (ERC-StG-307207) and Netherlands Organization for Scientific Research (NWO-vidi-14134). The work of Anderson was supported by the Australian Research Council under grant DP130103610 and DP160104500.