At the moment your H is getting too much out of this to stop his behaviour. he needs to see what it is he is destroying. he needs an ultimatum, but you have to be willing to see it through. this means you are able and willing to leave.
I was at the point where a life apart seemed better and I was more than willing to break up my marriage. this was the only thing which shook my H enough.
I see so many issues in your relationship. Your H works or is away from the home too many hours a day. he is resentful of you for the time you get with your children. This is coming out as anger or pickiness.
Would he consider altering his working week or asking for flexi time to enable him to address that? Could you get a part time job to make up the income shortfall.
he needs control and when things are untidy he feels stressed like things are getting out of control. This scares the hell out of him. It is like a house of cards he has built and one small thing could set the whole thing tumbling.
Strangely, he may also fear abandonment and thinks that controlling you will prevent it. he is too scared to let you do things your way because that represents a life without him.
The counselling thing may be lip service - you will have to wait and see. it might actually be fear of admitting he has issues. At the moment the way he is isn't greatly affecting his life - so he thinks all is well. But a shock may show him how wrong that is.
I also used to get plenty of compliments, flowers, nice words and almost suffocating closeness from my H and then abuse the next day. it unsettles you and could come from guilt on his behalf. However in the end all i felt was that he loved my body or my face, but hated the real me...
Now i feel more respect from him because he saw that i was capable and didn't need him as much as he hoped i did.
Good luck, becuase this is a hard road. it takes commitment from both of you. but if love is the basis you started from, hopefully that is what you will be left with.