In this paper, a non-isolated bidirectional DC-DC converter with zero voltage switching and constant switching frequency is proposed. Unlike the active clamp bidirectional converters, to create soft switching condition in both direction, only one auxiliary switch is used, which reduces conduction losses and the complexity of the circuit. The proposed converter is controlled by pulse width modulation and the switches are gated complementary, thus the implementation of the control circuit is simple. Low switching losses, high efficiency, high power density, are the advantages of this converter. The simulation and experimental results of the converter verify theoretical analysis. Based on an implemented prototype of the proposed converter at 80 watts, the measured efficiency is 96.5%.