Unable to send iMessage to Android Users

When I try to send an iMessage to Android users the text message doesn't go through. This doesn't happen with all Android users only some. Once it errors out I have to select send SMS and then the text message will go through. This problem occurs on my iPhone and my Macbook. I noticed when I turn off Rich Communication Services (RCS) I no longer have this problem. You can locate RCS Messaging under Messages>RCS Messaging. Once I toggle RCS Messaging off I'm able to send the text messages with no problems. It was nice being able to use RCS when it worked as I was able to see read receipts when an Android user read my text message. I would like to keep RCS messaging on if possible. Does anyone know a permanent fix for this problem?