This paper presents an optimized two-layer control architecture for efficient power sharing and switching control in a DC microgrid designed for electric vehicle (EV) applications. The system incorporates Energy Storage Systems (ESS) and advanced power converters to support wide operating ranges and bidirectional power flow. A Dual Active Bridge (DAB) converter is employed to interface the EV with the DC microgrid, resulting in multiple converters operating concurrently within the system. An enhanced droop control strategy is implemented at the upper control layer, while the lower layer utilizes a nonlinear switching controller derived using barrier function–based control theory. The enhanced droop mechanism enables accurate power sharing by considering the dynamic characteristics of individual storage devices, whereas the barrier-based sliding mode controller provides reliable current and voltage tracking for the converters. Mathematical analysis using Lyapunov stability theory validates the large-signal stability of the proposed control scheme. MATLAB/Simulink simulations demonstrate effective load power sharing, and the adaptive nonlinear controller exhibits strong robustness against sudden disturbances. A comparative performance assessment highlights the advantages of the proposed methods over conventional control techniques. Furthermore, real-time hardware-in-the-loop (HIL) testing using the Typhoon HIL 404 platform confirms the practical viability and responsiveness of the control strategies. Various EV and Constant Power Load (CPL) scenarios are evaluated to ensure comprehensive validation. Overall, the study offers significant insights into efficient, stable, and sustainable control solutions for future electric mobility systems.