You are absolutely NOT weak and it seems to me that you have symptoms of PTSD from the abuse you suffered.
Being an adult, in a subjugated, vulnerable position is not the same as being a free, fully functioning adult. You were effectively tortured to the point that you weren't even allowed ownership of your own body.
These feelings are overwhelming and are crippling your ability to be all you could be. He might not be in your life but he is still controlling you, even now.
Your kids need you to lead the way if they see you recovering then they too will begin to heal. They are young yet and the book is still being written.
If it is ASD it can get easier with age, if it is trauma, it too can improve. But even if it doesn't, you aren't currently allowing yourself to heal and be there for them fully.
Please do fing someone who you can trust to share this with. Please let people help you. You DO NOT deserve to feel this way.