You cannot automatically connect your device over WiFi if it that DEVICE is not connected using a USB cable first, because you need to config the device to listen a port and open a connection. What you can do is try to run these commands using a script.
From a computer, if you have USB access already (NO root required)
1. For Linux and MAC User:
Step 1:
Open terminal and install adb using
sudo apt-get install android-tools-adb android-tools-fastboot
Step 2:
Connect your phone via USB cable to the PC. Type following command in terminal to get the device ID:
$ adb devices
List of devices attached
LGV498b9cacc1 device
192.168.1.187:5558 device
192.168.1.184:5557 device
192.168.1.186:5556 device
192.168.1.143:5555 device
Step 3:
Using the device name listed above, get the IP of your Android device (if you know you can skip this step)
$ adb -s LGV498b9cacc1 shell ip -f inet addr show wlan0
22: wlan0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP qlen 1000
inet 192.168.1.185/24 brd 192.168.1.255 scope global wlan0
Step 4:
Setup the communication port using this command:
$ adb -s LGV498b9cacc1 tcpip 5559
restarting in TCP mode port: 5559
Step 5:
Connect to your Android device IP address.
$ adb -s LGV498b9cacc1 connect 192.168.1.185:5559
connected to 192.168.1.185:5559
Step 6:
Verify if the device was added to the list:
$ adb devices
List of devices attached
192.168.1.185:5559 device
LGV498b9cacc1 device
192.168.1.187:5558 device
192.168.1.184:5557 device
192.168.1.186:5556 device
192.168.1.143:5555 device