Love, he doesn't GET to call the shots in your life. He ballsed that up!
if you want to go, you CAN go, you CAN take your children, YOU ARE their (hands ON) mother. He IS abusive.
You are right about the only thing left is to leave. There is no reasoning with these men, they will never, ever see it, never GET it. The abusers pretty much follow almost to a word, the same kind of script, but just subtle tweaks that are designed and honed for maximum effect/return against you.
You can't reason with these people, you can't negotiate a decent life out of them. It means they have to GIVE UP the entitlement to RULE you, and they won't do that, for anything, why would they.
They have eroded our rights for their own. They have stolen ours, they are not just going to wake up one morning and say "Whoops darling, I seem to have totally shattered your self esteem, destroyed your life, made you feel worthless so that I can feel all-powerful, I am so sorry, I'll stop it right now."
That will never, ever happen.
Believe me.
I've tried.
10 long years I tried. Now I am OUT. and it is better. The only eggshells I walk on these days are the ones from my (sooo much happier and chilled) DS Egg and Soldiers. 
You have to see through all the shit he spouts, you have to challenge everything he says in your mind, because HE is working to an agenda. Your total submission.