<p>This paper presents a novel dual-layered encryption and decryption scheme with integrated sender identity authentication, leveraging the distinct dynamics of the Chen and Liu chaotic systems. Specifically, the Chen system generates dynamic authentication keys through two synchronized identical subsystems at the sender (master) and receiver (slave), while the Liu system, consisting of two subsystems with identical equations but disparate initial conditions, encrypts the main signal to strengthen protection against unauthorized access. To ensure precise decryption, initial synchronization of the Liu subsystems is achieved via a sliding mode controller, and a disturbance observer (DOB) mitigates the effects of parameter variations and external disturbances. The effectiveness of the proposed scheme is validated through both simulation and practical experiments. In simulation, the controller with DOB is shown to enhance synchronization accuracy, while the Liu–Chen chaotic framework achieves a sufficiently large key space and strong resistance to network attacks such as man-in-the-middle and eavesdropping. For practical validation, a real-time implementation using two ESP32 modules and a computer for bidirectional DC motor control confirms the efficiency of the DOB and the robustness of the proposed controller in secure communication scenarios.</p>