The embodiment of the invention provides an electromechanical actuator and a control method thereof, and belongs to the technical field of electromechanical servo. The actuator comprises a first motorassembly, a second motor assembly, a first actuating rod and a second actuating rod, wherein the first actuating rod is driven by the first motor assembly, the second actuating rod is driven by the second motor assembly, the first actuating rod is of a hollow structure, the first actuating rod and the second actuating rod move relative to each other under driving of the first motor assembly and/or the second motor assembly, and the second actuating rod partially moves in a cavity of the first actuating rod. By the actuator, dual-redundancy control can be achieved, a normal working mode and abackup working mode can be set, and switching between the working modes is performed according to a special fault; and compared with a hydraulic servo system and an electromechanical hydrostatic servosystem, the actuator has the advantages that the actuator has more flexible and reliable redundancy management mode, and the problem of a fault caused by a roller or a ball screw which is stucken isprevented.