adb connect Android device wirelessly

Set the target device to listen for a TCP/IP connection on port 5555.

adb tcpip 5555

Connect the device through usb and get the ip address of the device

adb shell ip -f inet addr show wlan0
adb shell ip route | awk '{print $9}'

Connect the device, 192.168.1.213 is the ip address obtained from the previous step.

adb connect 192.168.1.213:5555

Disconnect the device.

adb disconnect 192.168.1.213

See connected devices.

adb devices

Reference:
https://developer.android.com/studio/command-line/adb.html#wireless