Peace, love, and soul ruled the night at the 2011 Soul Train Awards. The 40th anniversary show, which was taped earlier this month at Atlanta’s Fox Theatre and aired on Sunday night, featured the soulful stylings of Cee Lo Green, Robin Thicke, Lloyd, and more, along with tributes to the late Heavy D and Legend Award recipients Earth, Wind & Fire and Gladys Knight.

Common dueted with Marsha Ambrosius on his single “Blue Sky,” a barefoot Cee Lo teamed up with Melanie Fiona for a white-hot duet of “Fool for You,” Mindless Behavior had the crowd on its feet with “Girls Talkin’ ‘Bout” and “Mrs. Right,” Robin Thicke smoothed it out with “Love After War,” and Lloyd spiced things up with “Dedication to My Ex (Miss That).” Plus, Doug E. Fresh, Goodie Mobb, Naughty by Nature, Whodini, Big Daddy Kane, and Kurtis Blow paid homage to the late Heavy D with a medley of his hits.

An absent Chris Brown went home with Album of the Year for F.A.M.E., Miguel picked up Best New Artist, and Kelly Rowland scored Song of the Year for “Motivation.” Other winners included Nicki Minaj (Best Hip-Hop Song), Jill Scott (Best Female R&B/Soul Artist), Cee Lo (Best Male R&B/Soul Artist), Marsha Ambrosius (Record of the Year), and Beyoncé (Best Dance Performance).

If you missed it, catch some of the performances below.

Lloyd – “Dedication to My Ex (Miss That)”

Miguel – “Girls Like You”

Common feat. Marsha Ambrosius – “Blue Sky”

Robin Thicke – “Love After War”

Anthony Hamilton – “Woo”

Heavy D Tribute – Doug E. Fresh, Goodie Mobb, Naughty by Nature, Whodini, Big Daddy Kane, & Kurtis Blow

Mindless Behavior – “Girls Talkin’ ‘Bout” and “Mrs. Right”

Cee Lo Green and Melanie Fiona – “Fool For You”

Gladys Knight Tribute – Kenny Lattimore, Dave Hollister, Freddie Jackson, Tamar Braxton, Chrisette Michelle, Marsha Ambrosius, Mary Mary, & Natalie Cole

Gladys Knight and BeBe Winans – “I Need You”