In this paper, a non-isolated stacked bidirectional DC-DC converter with zero-voltage-switching (ZVS) is introduced for the high step-up/step-down conversion systems. The extremely narrow turn-on and/or turn-off duty cycle existing in the conventional bidirectional buck-boost converters can be extended due to the stacked module configuration for large voltage conversion ratio applications. Furthermore, the switch voltage stress is halved because of the series connection of half bridge modules. The PWM plus phase-shift control strategy is employed, where the duty cycle is adopted to regulate the voltages between the input and output sides and the phase-shift angle is applied to achieve the power flow regulation. This decoupled control scheme can not only realize seam-less bidirectional transition operation, but also achieve adaptive voltage balance for the power switches. In addition, ZVS soft-switching operation for all active switches is realized to minimize the switching losses. Finally, a prototype of 1 kW operating at 100 kHz is built and tested to demonstrate the effectiveness of the proposed converter and the control strategy.