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The dynamics of an AWD vehicle is determined by the interactions between the vehicle's wheels and the tire contact surface. Understanding and controlling these interactions drives the vehicle mobility and energy efficiency. In this paper new issues related to tire slippage control are addressed. The paper analytically demonstrates that two tires on the same axle with the same rotational speeds can have different slippages when the normal reaction and inflation pressure vary due to motion conditions. Hence, a new method is proposed to control the rotational velocity of the wheels in a way that provides the same slippages of the tires by accounting for changes in the normal load and tire inflation pressure. This approach is especially beneficial for vehicles with individual (electric) wheel drives which can be individually controlled by introducing the proposed algorithm for controlling both the vehicle linear velocity and the tire slippages.