Actuator control for force fight mitigation

A system for controlling two or more actuators acting together to move a component or surface, the system comprising:

• two or more actuators engaged with the component or surface to be moved,
• each actuator being displaceable to move the component or surface in response to a component or surface position command,
• each actuator having an associated actuator controller to receive the position command and to output an actuator displacement command;
• force fight control means configured to determine a force differential from forces measured at each actuator and to derive a speed offset signal, and to provide the offset signal to the actuator controllers to modify the actuator displacement commands;
• wherein the force fight control means includes:
• means for measuring the force at each actuator and for determining a force differential between the forces at different actuators;
• and
• a feedback controller to generate, from the force differential, a speed setpoint offset signal;
• wherein the system further comprises:
• a speed control means configured to generate a current reference signal based on the speed setpoint offset signal.