There is a way out. It's called the front door and you walk through it and close it firmly behind you having first packed up lock stock and barrel and sent your possessions on ahead of you.
Your h is a overbearing arse whose continual criticism and belittiling of you has ground you down. The dc have grown and now it's time for you to start living life to please yourself.
As your first step to liberation, down tools and stop pandering to your h. Go on strike at home and pull a long sickie at work. Take to your bed or the sofa with lots of books/dvds/Belgian chocs/fine wine and order in whatever meals for one you fancy.
When you feel fully rested and refreshed book yourself a spa day, get your hair styled, update your wardrobe, and take yourself off out regularly to do things that you want to do without reference to him.
Don't even think about joint counselling - it's not recommended in cases where one spouse is emotionally or otherwise an abusive arse and, should he deign to agree to accompany you, your h will simply use the sessions to further subjugate you.
What your h needs is the mahoosive kick up the jacksie you should have administered years ago. Give him one for every year he's crushed your spirit - and then give him another on behalf of oppressed women everywhere.
If he dares to complain, remind of what he's got to lose financially and every which way if you decide to divorce him for his unreasonable behaviour.
Seriously, honey, the only way to bring about any modification to the behaviour of men such as your h is to confound them head on and no holds barred.