In collaborative control of multi motors for heavy-duty locomotives, the output value of the motor frequently exceeds its maximum allowable value during power redistribution. This results in a saturated motor owing to the power redundancy of each wheel set of the train. In this study, an algorithm for the tracking control of a consistent total amount of the extended observer through anti-saturation is proposed. First, mathematical models of multi-motor traction systems are developed. The system includes uncertain parameter perturbations and external perturbations. Second, a new type of extended sliding mode observer (ESMO) is designed to reduce the influence of the tracking effect on the input saturation of the system. Subsequently, for collaborative control of multi motors in heavy-duty locomotives, a new scheme for dynamic and auxiliary anti-saturation compensation (anti-windup) is established. The perturbation observation results and the systems’ auxiliary status are respectively input into the sliding mode controller (SMC). A traction total-amount coordinated tracking control (TACTC) of multi motors is achieved to ensure consistency of the system’s total output torque and the given traction characteristic curve. Finally, simulations and tests are performed on the motor actuators to demonstrate a good control effect.

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