I was facing the same problem too with struts 2.3.20. I solved it by removing all the unnecessary jars using only these nine jars that are:
commons-fileupload-1.3.1jar,
commons-io-2.2.jar,
commons-lang3-3.2.jar,
commons-logging-1.1.3.jar,
freemarker-2.3.19.jar,
javassist-3.11.0.GA.jar,
ognl-3.0.6.jar,
struts2-core-2.3.20.jar,
xwork-core-2.3.20.jar"