Aiming at the problem of poor steering stability of five-axle all-terrain cranes, a 3-DOF model was established on the basis of the classical 2-DOF model, taking into account the body's lateral inclination movement. A 5-axis steering model was built in Adams to verify the accuracy of the 3-DOF model. Based on the two control strategies of first-axis corner feedforward control and optimal control based on vehicle state feedback and proportional feedforward, the two control strategy models are established in Matlab/Simulink, and the effectiveness of the control strategies is verified through the angular step test. The simulation results show that the optimal control is the most effective, the steady state value of the center of mass lateral deflection angle is close to zero, and the vehicle is consistent with the driving direction, which enhances the anti-skidding ability; compared with the feed-forward control, the vehicle traverse angular velocity under the optimal control is basically the same as that of the first-axis steering; minimized lateral inclination under optimal control ensures good crane overtures.