<p>In recent years, the environmental pollution problem has become an important issue, and the electric vehicle (EV) is an alternative choice to achieve zero fuel cost and zero pollution. However, the development of EVs is being hindered due to the insufficient number of charging stations and the disadvantage of driving range. To this end, the energy interaction concept is proposed, and an isolated converter for energy interaction is designed in this paper. Firstly, according to requirements regarding the energy interaction converter for EVs, i.e., high-reliability, high-gain, high-power-density, and small-volume, a dual-active-bridge (DAB) converter is employed as the circuit topology, and a standard circuit model is built. The model and phase-shifting scheme of the DAB converter are incorporated and recreated, which produces a customized linear model for the design of the controller. Secondly, using the established circuit model, a robust voltage controller strategy based on uncertainty and disturbance estimator (UDE) was designed to address parameter disturbances, dead time, computation delays, and external disturbances. An integral term was introduced to reduce steady-state errors and improve steady-state tracking accuracy by utilizing the integral accumulation effect, ensuring that the DAB converter provides stable DC voltage/power output. The controller stability analysis is further provided. Finally, the simulation and experiment results demonstrate the feasibility and effectiveness of the proposed method.</p>