In this paper, perceptual agent and mobile control law based distributed target tracking scheme is proposed to solve the problem of target tracking in mobile sensor networks composed of unmanned automatic tracking robots. Firstly, a distributed target tracking algorithm is proposed on the basis of constructed mobile robot agent model and perceptualcoverage target tracking model. The algorithm consists of estimation phase and consensus phase. Through the execution of these two phases, all the agents in the network achieve an agreement on the maximum perception confidence value, as well as on the corresponding target state and a posteriori covariance matrix, so as to improve the individual prediction performance. Secondly, potential field based control law is proposed for the movement of the general mobile agent so as to ensure that the sensor network is connected at any time, such that each mobile agent approaches the target as close as possible to improve its perception confidence value and to avoid collision with the target, the environment walls and the other agents. This is useful for keeping the coverage of the area at a satisfactory level. Simulation results show that the proposed tracking scheme not only improves the tracking accuracy, but also has a better coverage perception performance.