Robust toy control protocols

Has anyone worked on a latency / jitter / packet loss tolerant toy control protocol?

I’m trying to control my (custom) toy over network instead using the t-code protocol and openfunplayer, but this doesn’t work very well due to network latency and jitter. It looks like an easy problem to solve by including timestamps in the messages and sending commands a few hundred ms in advance. But I don’t want to reinvent the wheel by creating a custom protocol if I don’t have to.