I bumped into this error when trying to set target audience for SharePoint Publishing Navigation.
This issue happened only on IE 10, if i used IE9, this error will not happen.
After several rounds of testing, it is confirmed that the IE 10 Browser Mode “IE 10” that cause this issue. I’m shocked that IE 10 default browser mode does not support SharePoint 2010.
In order to avoid this error, you’ve got to hit F12 “Developer Tool”, look at the toolbar and change the Browser Mode to “IE 10 Compatibility View“. Then this error will be gone.