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This paper proposes a plug-and-play control method to coordinate multiple distributed energy resources (DER or DE) to regulate voltages in future distribution systems with a high DE penetration. Theoretical analysis shows that there exists a corresponding formulation of the dynamic control parameters with multiple DEs to give the desired responses. Therefore, the proposed control method has a solid theoretical basis. The method is based on dynamically and adaptively adjusting DE control parameters to ensure that actual voltage responses follow the desired outputs. Also, it is based on local and the other DEs' voltages without the need of the full system data and extensive studies to tune the control parameters. Hence, the method is autonomous and adaptive for variable operational situations, and has the plug-and-play feature with a high tolerance to unavailable or inaccurate system data. Thus, it is suitable for broad utility application. Simulation results from various conditions, such as asynchronous start of multiple DEs, disappearance of the original disturbance in the middle of the control process, and operation in looped distribution systems, confirm the performance, validity, and flexibility of the proposed control method. The possible impact of communication latency on the performance of the proposed method is also discussed.