whatisnormality, clearly the advice you're receiving on here (to leave) is proving too big a step for you to take. So, lets start with smaller steps.
You have received overwhelming response and support for your opinion that your sex life is not normal. You don't have to confront your husband with that for the moment, just hold on to the knowledge that you are right about this and he is wrong.
As your previous experience of counselling was a positive experience, please get yourself a counsellor and start to talk to about these issues. The British Association of Counselling Professionals (www.bacp.co.uk) has a find a therapist link on their website where you can select not just by geographical location but also by "special interests" (there's a drop down list including sex related issues, abuse, self-esteem). If you're unable to pay for counselling privately, visit your GP.
By working with your counsellor, you'll be able to build up your coping skills, your confidence and self-esteem. Once you've done that, then you can re-visit whether you want to remain in this abnormal relationship.
Leaving someone can be very hard, particularly when there is a good relationship between them and your friends and family. Nevertheless, you have the right to be happy, to feel loved, supported and cherished, to have a fulfilling sex life and to have children. Please don't fall for the belief that your husband is the only one for you. Obsessive love isn't healthy or normal and once you start to build a new life for yourself, you'll meet people who will demonstrate that to you. But it is very important that you do the counselling first, as its important that you learn for yourself what makes a relationship normal and healthy and what doesn't. After all, the last thing we want is for you to jump out of this unhealthy relationship into another one as bad, or worse.
Good luck m'dear, its not an easy road but please do start taking the steps along it.