i don't think you're controlling.
You both have always had different 'basic' standards and approaches to responsibility. Generally, people find a compromise or middle ground, but he chose to absolve himself of adult responsibility and wanted you to do all the organising/decision making etc early on in your relationship. He couldn't be arsed with the things that required putting in an effort - thinking/doing - and preferred to have you 'mother' him (for want of a better word). So he hasn't changed and will not change. He gave you permission to mould him and you tried your best.
The impression i get is that you believed you loved him, he was a way 'out'?, he was the best you were ever going to get and so 'mothering' him and moulding him was a small price to pay for the life you wanted. Nothing to be ashamed about there, plenty of women have done it, still do it and a lot of them are on MN.
Now you've had enough. No shame in that either. You've experienced actual mothering (of your dc), matured in your own outlook and become a stronger person than you've probably ever been before in your life. You've realised that life is too short and too precious to 'settle' for anything less than what you want and deserve. Good on you - better late than never. I just wish more women would come to that realisation before they end up believing 'i made my bed and now i have to lie in it/make the best out of it'.
You don't need to look for 'excuses' to get out of this or even apportion blame in a situation that you enabled. Those were the choices you made when you were a different person. Some people change for the better with time, others - like your dh - don't. There's no shame in saying 'this doesn't work for me anymore'. I mean, it's not as though he's making any effort to improve the relationship - or himself. If you stay it will always be you having to 'lead'.
Get out. Go. Live your life and enjoy every last minute of it.....before we get destroyed by an asteroid/global warming/alien takeover/armageddon 