D’Angelo, the Grammy-winning R&B star known for hits such as “Brown Sugar,” “Lady,” “Really Love” and “Untitled (How Does It Feel),” died on Tuesday at age 51. The singer, a pioneer in neo-soul music, had battled cancer, according to a statement from his family reported by Variety.

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The expressive singer made just three albums, including his 1995 debut, Brown Sugar, but retreated from the public after each. He had been battling cancer, according to a statement from his family.

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Grammy Award-winning R&B singer D’Angelo has passed away at age 51 due to cancer. The singer, whose real name was Michael Eugene Archer, died Tuesday in New York City, according to a statement from his family.