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Wireless sensor and actuator networks (WSANs) bring many benefits to industrial automation systems. When a control system is integrated by a WSAN, and particularly if the network scale is large, distributed communication and control methods are quite necessary. However, unreliable wireless and multihop communications among sensors and actuators cause challenges in designing such systems. This paper proposes and evaluates a new distributed estimation and collaborative control scheme for industrial control systems with WSANs. Extensive results show that the proposed method effectively achieves control objectives and maintains robust against inaccurate system parameters. We also discuss how to dynamically extend the scale of a WSAN with only local adjustments of sensors and actuators.