A braking control algorithm for electric vehicles endowed with redundant actuators, i.e. friction brakes and wheel-individual electric motors was tested on the taxiway of the airfield at DLR Oberpfaffenhofen. This algorithm relies on a model predictive control framework and is able to optimally split the wheel braking torque among the redundant actuators, while providing anti-lock braking features (i.e. wheel slip regulation). The integration of these two control functions together with energy metrics, actuator constraints and dynamics improves the control performance compared to state-of-art control structures. The experimental measurements recorded with our prototype vehicle demonstrated a precise wheel slip regulation and high energy efficiency of the used braking control methodology. These tests served as preparation for a demonstration at BMW testing facility in Aschheim near Munich.