In this paper, we apply a simple adaptive feedback control scheme to synchronize two bi-directionally coupled chaotic systems. Based on the invariance principle of differential equations, sufficient conditions for the global asymptotic synchronization between two bi-directionally coupled chaotic systems via an adaptive feedback controller are given. Unlike other control schemes for bi-directionally coupled systems, this scheme is very simple to implement in practice and need not consider coupling terms. As examples, the autonomous hyperchaotic Chen systems and the new non-autonomous 4D systems are illustrated. Numerical simulations show that the proposed method is effective and robust against the effect of weak noise.