You are not going mad. Your children won't be taken from you.
One in four women experiences domestic violence at some time in their life, with two women per week killed by their current or ex-partner.
Women are victims of 70% of domestic incidents
Of women subjected to domestic violence in any year, one in nine sustains injuries serious enough to require medical attention
10% report being knocked unconscious and 5% sustain broken bones
Domestic violence is a factor in one in four suicide attempts by women
oh and another one: A study by the National Children's Homes Action for Children (1994) found that 75% of mothers subjected to domestic violence said their children had witnessed it
Your family is HIGH RISK due to HIS treatment of you all. Your depression is most likely due to his abuse of you. Children growing up in a DV/Abusive environment are deemed as being directly abused.
YOU ARE NOT THE ABUSER HERE, but you staying with him will perpetuate the abuse against you AND your DC. If there IS any talk of removal of DC it will be because YOU don't leave this man.
mental abuse - IME - is worse than physical violence. Bruises, broken bones can be treated/healed. Emotional wounds never heal, they only fester.
You need to call WA, you need to make movements to get your H out of your life and you need to start talking to Dr, the Police DV team, your HV, anyone and everyone to build a paper trail to corroborate the facts in your life.
You could do with counselling, but tbh, i worry that until you remove the font of all poison in your life, your H, that therapy will achieve nothing, only give you coping mechanisms so you can withstand more and more and more abuse.
Give it up, he will not change unless YOU make a point and get him out of your life. anything less, he'll take as permission to carry on as he is, and infact he will get worse and worse and worse.
cut your losses now, while you still can. You have a choice, you have options and you have a whole raft of organisations set up to help you, support you and protect you.