The high redundancy actuator(HRA)concept is a novel approach to fault tolerant actuation that uses a high number of small actuation elements,assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance.Whilst this structure afords resilience under passive control methods alone,active control approaches are likely to provide higher levels of performance.A multiple-model control scheme for an HRA applied through the framework of multi-agent control is presented here.The application of this approach to a 10×10 HRA is discussed and consideration of reconfguration delays and fault detection errors are made.The example shows that multi-agent control can provide tangible performance improvements and increase fault tolerance in comparison to a passive fault tolerant approach.Reconfguration delays are shown to be tolerable,and a strategy for handling false fault detections is detailed. The high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation that uses a high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Whilst this structure afords resilience under passive control methods alone, active control approaches are likely to provide higher levels of performance. A multiple-model control scheme for an HRA applied through the framework of multi-agent control is presented here. The application of this approach to a 10 × 10 HRA is discussed and consideration of reconfoguration delays and fault detection errors are made. The example shows that multi-agent control can provide tangible performance improvements and increase fault tolerance in comparison to comparing to a passive fault tolerant approach. Reconfguration delays are shown to be tolerable, and a strategy for handling false fault detections is detailed.