a lot of the discussion on here is about consequences, but it's always best to avoid problems, rather than have to resolve them.
i know it sounds trite, but are there ways you can prevent things - you took them for a walk, any more ideas like that?
friends of ours had 2 boys, and 1 of them went through a phase where he would just be horrible - whining & annoying everyone til he got a reaction. the parents learnt that when he was like that, to send him our for exercise. luckily, they had a treadmill in the garage & would just tell him - 20 mins, then come in & talk to us. for them it worked.
can you set aside time for each of them - so a dvd for the younger 2, and time alone with dd1? and swap things round, so they all feel they get some attention?
could you & dh agree that all housework will be done by you both in the eves, so you JUST concentrate on getting the kids sorted - if necessary, do a pack lunch each eve, so you don't even have to get sandwiches during the day. then for just one or two weeks, do NOTHING but focus on your kids - then there's less chance of them doing things behind your back & trying to deny it.
also, give them ONE thing to improve on - so ds, 'when i get angry, i will ...' and every time he manages, he gets a tick/sticker, and after so many, he gets a reward (which could be extra 1-2-1 with you or dh).
if you want to change behaviours, you just have to make it the only priority for a while, until YOU are happy with how things are.