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In order to further improve the efficiency of dual-active-bridge (DAB) converter, a hybrid five-variable modulation scheme with minimal root mean square (rms) current is proposed in this article, which combines the traditional phase-shift and pulsewidth modulation schemes. By adopting the proposed optimal scheme, a wider zero-voltage switching (ZVS) operation range and lower rms current level are achieved simultaneously when compared with other modulation schemes, which significantly improves the efficiency of the DAB converter. Moreover, for the complexity of the proposed modulation scheme with five variables, the Fourier decomposition based analytical expressions are derived for the converter and a generalized performance analysis results are presented. Besides, in order to avoid the analysis error, especially at light-load condition, the optimization strategy takes the rms current as the optimal objective, which includes the eight harmonic component of the inductor current rather than just considers the fundamental component. And an offline particle swarm optimization algorithm is introduced to acquire the optimal operating points for the whole power range. To substantiate the effectiveness of the proposed modulation scheme, a comprehensive comparison among related works in terms of the rms value and ZVS range were carried out under various operation condition. Finally, a 1.2 kW experimental platform was built and the highest experimental efficiency under the proposed modulation scheme reaches 96.8%. [ABSTRACT FROM AUTHOR]