R&B legend D'Angelo has died, his family confirmed to CBS News on Tuesday. The singer, whose real name was Michael D'Angelo Archer, was 51.

D'Angelo's family said the Grammy-winning artist died Tuesday after a "prolonged and courageous battle with cancer."

"We are saddened that he can only leave dear memories with his family, but we are eternally grateful for the legacy of extraordinarily moving music he leaves behind," the family said.

His family asked for privacy and that his fans "join us in mourning his passing while also celebrating the gift of song that he has left for the world."

D'Angelo performs live at the Byron Bay Bluesfest on March 24, 2016, in Byron Bay, Australia. Mark Metcalfe/Getty Images

D'Angelo was born in Virginia and dropped out of school as a teenager to try t

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