A modification to a Shimano Di2 changer could be an option, but given the groupset costs >£1500, you probably wouldn't want to go that route for experimenting (and hacking apart!)
I'm not convinced that you could get enough force to reliably make a derailleur change with a servo, and it may not respond as well to slight misalignments as a manual mechanical system (apparently the Di2 self calibrates, which is neat).
As far as I can see, the only currently commercially available electrical gear system is the Shimano one. There have periodically been others over the years, but they've mostly died a death for one reason or other, which is a shame because this would be the sort of situation that they'd be ideal for.
Have you considered any of the possibilities of hub gears, or even single speed? I suspect a single speed recumbent may not work all that well, since you can't really get out of the seat and honk like you can with an upwrong, but it might work on relatively flat roads. Alternatively, you can limit the complications and issues of two derailleurs by only having, or only using one. For a lot of the time you could possibly get away with the rear changer only, especially if you fitted a wide ratio cassette to it.
An S2C equipped recumbent would be an interesting approach though, since you'd avoid the need for a brake or changer (although you'd really want the brake to disappear from the front wheels, not the rear). There's possibilities for a trike with front drive and steer, with an S2C, but front drive and steer trikes are pretty rare!