The one or more processors 210 may further be configured to determine a position error of an optical system 250 indicative of a misalignment of an optical beam transmitted between two optical systems 250. A first optical system 250a of the first communication device 200a and a second optical system 250b associated with the second communication device 200b. As such, the one or more processors 210 may determine an adjusted position of the first optical system 250a and/or the second optical system 250b to establish a link 22a and/or 22b. Furthermore, the one or more processors 210 may be associated with the pointing hardware 260 (e.g., a gimbal) for adjusting the optical system 250, and may be configured to provide pointing adjustments of the optical system 250. The pointing hardware 260 may be configured to move in at least two degrees of freedom, such as, for example, yaw and pitch. The adjustments to the optical system 250a and/or the optical system 250b may be made to establish acquisition and connection link between the first communication device 200a and the second communication device 200b. In some implementations, the one or more processors 210 may provide closed loop control for the optical system 250 to adjust optical beam pointing based on the receiver 240 at the receiving communication device based upon the signal strength for an optical beam received over the communication link 22 from the transmitting communication device.