In multi-agent systems, effective communication and coordination are critical, especially in dynamic and delay-prone environments. This paper introduces AFDAC (Adaptive Frequency and DelAy Compensation), a novel framework that enhances communication efficiency and system robustness through adaptive strategies. AFDAC employs adaptive communication frequency adjustment to dynamically modulate communication frequency based on real-time task urgency, optimizing resource utilization and decision-making. Additionally, it incorporates a delay compensation mechanism to mitigate the effects of communication delays, ensuring timely and accurate information exchange among agents. Experiments conducted in multi-agent particle environments demonstrate that AFDAC significantly outperforms existing baselines in terms of overall performance, coordination effectiveness, and system robustness.