I was furious when I left my x. Not only because he emotionally and verbally and physically abused me, but also becuase he refused to acknowledge that, and in fact twisted everything to make me look like the selfish one (for leaving).
THe only way to move on and not be angry and not be stressed, resentful and anxious is to shape your life entirely as though he didn't exist at all. DOn't every set things up so that you're counting on him.
It's liberating when you realise you have it all sewn up and you don't need him at all. I love that feeling. I don't prevent him from coming. HE's not inclined to visit regularly, and he gives nothing financially but has a lovely house, car, motorbike, investments, savings etc....
I'd much rather rely on my parents for help than on my x. I know my children need a face to the name Daddy, and they do have that. But we only see him maybe five times a year. perhaps some people would argue that that wasn't great. But the children seem happier and happier all the time. We're all on an even keel, steady, secure, content, not suffering from anxiety etc...
I don't know about legal advice, but I would advise against trying to force him to see the children on a regular basis.
It's not an overnight process, but you will accept that you can't 'control' him either.
He controlled you for a long time. NOW you're free. You didn't split up because he was a reasonable guy, ready to compromise etc I presume.
He controlled you and that wasn't right, but by trying to make him be a good father, even though that's what he would do if he were a decent man, you can't make him do it. You can't control that. don't try.
GL. It gets easier.