To drive an outrigger based on operation of a worker without depending on a current state of the outrigger.

An outrigger control device includes: outrigger cylinders 206a, 206b that drive the outrigger among storage condition, a grounding condition, and a jack-up condition, oil pressure sensors 414, 415 that detect loads work on the outrigger cylinders 206a, 206b, and a controller 401 that detects based on the detected load, which is the current driving condition of the outrigger, the storage condition, the grounding condition, the jack-up condition, an aerial condition between storage and grounding, and an intermediate condition between the jack-up and the grounding, and sets the type of the driving of the outrigger cylinders 206, 206b by the current driving condition and an operation instruction. Then the controller 401 controls supply and drainage of pressure oil to the outrigger cylinders 206, 206b from an oil pressure pump 424 to according to the set types of driving.