An irrigation system includes a central pivot and a series of mobile towers connected to the central pivot and to one another by support structure. Each mobile tower has wheels and a motor for driving at least one of the wheels. A control system for maintaining alignment of the mobile towers includes a location-determining component for determining a position or orientation of each of the mobile towers and a computing device operable to detect mis-alignment of the mobile towers based on the position or orientation of each of the mobile towers, determine a control sequence to re-align the mobile towers, and send commands to at least one of the motors for implementing the control sequence.
