An electronic device may be provided with wireless communications circuitry and control circuitry. The wireless communications circuitry may include millimeter wave transceiver circuitry and a phased antenna array. The phased antenna array may transmit and receive millimeter wave signals. Beam steering circuitry may be coupled to the phased antenna array and may be adjusted to steer the millimeter wave signals in a particular direction. The control circuitry may track the location of an external device using sensor data. The control circuitry may control a mechanical positioner to mechanically adjust an orientation of the phased antenna array and/or may control the beam steering circuitry to steer the millimeter wave signals towards the location of the external device. In this way, a line of sight millimeter wave communications link may be maintained between the phased antenna array and the external device even if the external device moves over time.