R. Kelly has wrote a ground breaking memoir for fans.

Singer, songwriter, producer, and composer, Robert Sylvester Kelly, known as R. Kelly, is considered to be the musical genius in R&B. He produced mega-hits such as  "12-Play," "Bump N Grind," "Your Body's Callin'," "Touched a Dream," "You (To Be Happy)," the Grammy award-winning record, "I Believe I Can Fly," "I Wish,"  "The World Greatest," and the list goes on.

Kelly has collaborated with several artists such as the late Michael Jackson, Whitney Houston, Celine Dion, Toni Braxton, Jay-Z, Ja Rule,  Ron Isley, Charlie Wilson from the Gap Band, Fat Joe, Joe, Maxwell, Aaliyah, Mary J. Blige, Diddy, Notorious BIG, Missy Elliot, Nas, and many more.

Now, Kelly has put his writing skills to the test with a memoir, "Soulacoaster: The Diary of Me," which was published June 28 by SmileyBooks. It is available as a hard cover book and e-book.  

In the book, Kelly opened up about his early childhood living in Chicago, his love of basketball, the rises and falls in entertainment, the pornography charges against him, and upcoming musical projects.

The 45-year-old crooner discussed his relationship with his three children, 14-year-old Joann, 12-year-old Jaya, and 10-year-old Robert Jr. They are a huge priority in his life. 

"My kids are my best audience, my favorite people in the entire world. I love making my kids laugh," Kelly said in the book. "But I also take pride in teaching them about success. Not just the glamorous parts, but also the struggle and hard work."

Kelly shed light on how he witnessed a storm in his life The Chicago Times reported his alleged sexual relations with an underage girl on video. In the memoir, Kelly claimed it wasn't him in the video, but was arrested and accused of child pornography anyway. The first thing Kelly thought about was his musical career and children.

"I was looking at penalties involving long-term jail sentences. If I was ever found guilty, my career would be ruined in a single blow," Kelly said. "Everything I ever worked for would be taken away. I'd be taken away. My kids would see their father as a criminal."

Kelly refused to allow the pornography charges get in the way of his musical composition and he continued to write mega hits for his fans.

Music was Kelly's survival and ultimately led to the song "Heaven I Need a Hug," from the album, "Loveland."

On May 9, 2008 Kelly was acquitted of all charges.

"If I was going to survive this ordeal, I needed my music to get through it. I had to sing, write, produce, tour, connect with my fans, and work with other artists," Kelly said. "For those seven years, while I was under this dark legal cloud. I went out there and did more creative work than in any other period of my life. I might have done twice as much work. I turned the fear to energy. I went to work with a vengeance."

Kelly's musical accomplishments, he won three Grammys for his hit "I Believe I Can Fly," give no indication of the years he spent overcoming his learning disability, dyslexia.

He struggled to read and write most of his life. However, he didn't let his learning disability intervene with his musical talents. 

"It took me a lot of time, effort, energy- and a lot of God's grace- to learn to recognize the gift for what it was and harness it, even as I struggled in other ways," Kelly said. "I've got a leash on my music now and I can walk it. It's not running wild anymore- I can walk it wherever I want it to go."

Kelly's late mother Joann Kelly and second mother, pastor, and teacher, Lena McLin were key figures who supported him. Joann and McLin believed in their son's musical dreams when he had apprehensions about being successful in the musical industry. He dedicated the memoir to the two women.

"My mom wasn't perfect. She had her bad habits.... Above all, Mom was praying woman who looked to God for a better way. She was a loving woman who protected her four children with the strength of a lioness," Kelly said. "When I call out 'Mom' it brings the spirit of Joan Kelly into my heart. I need the spirit of my mother by my side. She's still my guide and strength. She was the first one to believe in me. She told me that I could achieve all through Christ Jesus."

"Soulacoaster" was R. Kelly's diary to the world and he was able to reveal his true demeanor to the world. 

"Even though I had some struggles and downfalls in my life, I'm still standing- strong, confident, and feeling good about life and love," he said. "I have no regrets whatsoever simply because whatever I've gone through has made the man and artist that I am today."