Peace, love and souuuul took over the 40th annual Soul Train Awards. The 2011 edition, hosted by Cedric The Entertainer, was taped last week at Atlanta’s Fox Theatre as Gladys Knight and Earth, Wind & Fire were honored with the prestigious Legend Award. Robin Thicke, Joe, Eric Benét, Lloyd, Chrisette Michelle, Musiq Soulchild, Anthony Hamilton, and Mindless Behavior all turned the party up with live performances. Above, watch as Common performs his single “Blue Sky” with help from Marsha Ambrosius.

Catch more performances from the 2011 Soul Train Awards, after the jump….

Robin Thicke – “Love After War”

Miguel – “Girls Like You”

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

Anthony Hamilton – “Woo”

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

Cee-Lo – “Fool For You” with Melanie Fiona

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

Gladys Knight and BeBe Winans – “I Need You”