Abstract: A phased array antenna may include a substrate, a plurality of phased array antenna elements carried by the substrate, and a central controller for providing beam steering commands and beam shaping commands. Furthermore, the phased array antenna may also include a plurality of element controllers connected to the phased array antenna elements and the central controller. Each element controller may store at least one position related value based upon physical positioning of the associated phased array antenna element on the substrate, and determine a beam shaping offset based upon the stored at least one position related value and a received beam shaping command from the central controller. Each element controller may also determine at least one phased array antenna element control value based upon a received beam steering command and the beam shaping offset.