R&B music may not be dominated by soul-stirring vocalists as it once was, but that doesn't mean that there's a lack of capable talent holding the genre down. A few of today's more popular singers came together for a medley at the 2015 BET Awards on Sunday night to honor the legendary Janet Jackson, who was presented with the Ultimate Icon award during a tribute performance.

Tinashe kicked off the tribute by reenacting Janet's famed chair dance while performing "Pleasure Principal." Then Jason Derulo took over onstage for one of Jackson's more recent classics, "All For You," showing off his nimble footwork amid of crew of accompanying dancers. Ciara joined the festivities for "If," which is only right being that she has been compared to the lauded icon numerous times during her career. All three artists then went into overdrive by performing Janet's landmark hit, "Rhythm Nation," effectively doing the legend's legacy much justice.

After another group of dancers displayed their skills as Janet's new song "No Sleeep" played, the songstress walked onstage to accept her award. “My heart is so full. Thank you God for making everything, anything possible,” said Janet. “I’m so grateful for the support you’ve always given me.”

Janet will kick off her Unbreakable World Tour on Aug. 31 in addition to releasing her first album in seven years this fall.

2015 has been an eventful year for Ciara, Jason Derulo and Tinashe. The latter continues to build her reputation as one of the more promising female artists of the moment with a growing pile of stellar live performances, as well as her recent mixtape, Amethyst. Ciara has also been making noise of her own and is currently promoting her new album, Jackie, as well as preparing for an upcoming tour. Jason is currently riding high off of the release of his new album, Everything Is 4.

Watch Janet Jackson Accept Ultimate Icon Award at 2015 BET Awards

See 2015 BET Awards Red Carpet Photos