A pseudospectral method is presented for direct trajectory optimization of optimal control problems using collocation at Chebyshev-Gauss points,and therefore,it is called Chebyshev-Gauss pseudospectral method.The costate and constraint multiplier estimates for the proposed method are rigorously derived by comparing the discretized optimality conditions of an optimal control problem with the Karush-Kuhn-Tucker conditions of the resulting nonlinear programming problem from collocation.The distinctive advantages of the proposed method over other pseudopsectral methods are the good numerical stability and computational efficiency.In order to achieve this goal,the barycentric Lagrange interpolation is substituted for the classic Lagrange interpolation in the state approximation.Furthermore,a simple yet efficient method is presented to alleviate the numerical errors of state differential matrix using the trigonometric identity especially when the number of Chebyshev-Gauss points is large.The method presented in this paper has been taken to two optimal control problems from the open literature,and the results have indicated its ability to obtain accurate solutions to complex constrained optimal control problems.