Ship wireless charging technology, characterized by its low carbon emissions, has emerged as a research focus in the field of green shipping. Among various approaches, robotic arm-based docking wireless charging has become a mainstream technical pathway. However, during the proximal berthing process of unmanned surface vehicles (USVs) approaching the robotic arm, gusty winds often cause deviations from the prescribed berthing path. This leads to the actual trajectory exceeding the robotic arm’s reachable range, posing a risk of shore collision and significantly compromising the docking efficiency of wireless charging systems. The core issue lies in the inability of heading angle errors to converge rapidly under wind disturbances. To address this, a linear active disturbance rejection controller (LADRC) integrated with wind feedforward compensation is proposed. This controller enables USV to rapidly stabilize heading angle errors and closely track the prescribed path even under sudden wind disturbances. Simulation results demonstrate that the wind feedforward-enhanced LADRC exhibits remarkable wind disturbance resistance, effectively reducing shore collision risks while improving the reliability of proximal berthing and the docking efficiency of charging robotic arms.