R Kelly has failed to show up for a court appearance in a case in which he is accused of offering a teenage girl $200 (£162) to take off her clothes and dance in 2011.
The R&B singer was charged in Minnesota in August with soliciting the girl after meeting her before a concert in Minneapolis.
Kelly, whose full name is Robert Sylvester Kelly, faces previously filed federal and state charges in New York and Chicago.
He is in jail in Chicago on sexual abuse and other charges.
Prosecutor Judith Cole told Judge Jay Quam during Thursday's brief hearing in Minneapolis that federal authorities in Illinois were "not willing to give us access to him" until his case there is resolved.
The judge then issued a bench warrant as a formality.
Kelly's lawyer Steve Greenberg, who did not attend the hearing, called the Minnesota charges "beyond absurd" when they were announced.
