Dual active full-bridge (DAB) DC–DC converters are widely used in DC microgrids and various fields of power electronics. It has the advantages of high-power density, easy to implement soft switching and bi-directional power transfer capability. Conventional linear controllers have difficulty in meeting the increasing demands for speed and robustness. In this paper, a control strategy based on the Brayton–Moser theory of power shaping is proposed to improve the control strategy of DAB DC–DC converters. The DAB DC–DC converter is modelled and the controller is designed based on the Brayton–Moser power-shaping theory. A simulation of the DAB DC–DC converter is constructed and a comparative analysis is carried out for three control strategies of PI control, passive control and power-shaping Brayton–Moser control under different operating conditions.