The dynamic model of wet dual clutch transmission (DCT) vehicle starting process which reflect the change of clutch friction coefficient and the attenuation of clutch performance is established. Taking the minimum jerk intensity, friction work and starting sliding time as the optimization objectives, the optimal transmission torque of clutch in vehicle starting process is obtained by using the linear quadratic regulator (LQR). Aiming at the influence of clutch performance attenuation and clutch friction coefficient varing with the sliding velocity on clutch pressure control, a nonlinear robust control strategy of clutch pressure is proposed, which can track the optimal transmission torque of clutch obtianed by LQR. The results show that the proposed strategy can effectively track the optimal transmission torque under the change of clutch friction coefficient, the average tracking error is about 0.02 N.m, compared with PID control strategy, it has more accurate control effect and stronger robustness.