In this paper, a communication assisted multi-agent system (MaS) is proposed for improving the voltage profile of distribution systems through proper estimation and control of reactive power. Since renewable energy sources (RESs) connected to distribution networks are highly unpredictable in nature, it is more important to maintain the voltage profile within the permissible limits during this atmospheric changes. The agents in the designed MaS improve the voltage stability which is mostly dominated by reactive power and coordinate their tasks through online information and power flow. The agents effectively estimates the adequate amount of reactive power from the topology of distribution network and maintain voltage stability where distributed static synchronous compensators (DSTaTCOMs) are used to supply this reactive power. The main control approach is based on designing a linear quadratic regulator (LQR) with an integrator within the agent framework to control the DSTaTCOM. The proposed scheme is validated by comparing it with the conventional PI controller and the simulation results show that the proposed scheme performs in a much better and smarter way even with communication delay.