Is it permissible to give Zakat and charity from the wealth of a deceased father who did not pay Zakat on his wealth, and then distribute the remainder among the heirs without the consent of the disobedient brother?

Failing to pay zakat (definition) is a grave sin. You must pay your father's zakat for the years he did not pay it, without making it conditional on the knowledge or consent of your half-brother. As for giving charity with what exceeds the zakat, that requires his consent; otherwise, give him his share, then give in charity whatever you wish. You must advise your brother to repent from his disobedience and to increase his supplications and seeking forgiveness for his father, and to perform righteous deeds and dedicate their reward to him.