My DH was exactly like this a few years ago, Regularhiding. I was constantly walking on eggshells and there was a lot of 'peripheral violence'. For example, he would throw a glass at a wall showering me and the kids with glass.
I'm afraid there was no easy solution. I never made excuses for him (stress depression, my arse!)He and he alone was responsible for his behaviour. I also think that sitting talking about it is a no-hoper. Men like my DH only respond to metaphorical butt-kicking.
So we went far down the road of separation, I was about to get an injunction to remove him from the family home because of his bad behaviour but he was desperate to stay and was fully aware of what he stood to lose. He also got the metaphorical kick in the butt from his own solicitor (who also knew me well).
Well the ball was now in my court. I absolutely put my foot down and made some written rules. E.G. no violence, shouting, housework and childcare exactly divided down the middle. I do nothing personal for him (washing, ironing, sewing, buying clothes). Fortunately our house is big enough that we have our own rooms and bathroom each.
However, sadly, the emotional side of our marriage also had to go and we live like flatmates but in order to be hard with him I had to withdraw emotionally. He simply no longer had the power to dominate or bully me.
I think you have to be really hard and give ultimatums but the key is to REALLY MEAN IT. If he leaves his clothes on the floor, throw them in the bin. If he demands a meal on the table, never make him a meal again, and the biggest of them all, if he is ever abusive or violent call the police then throw him out.
My husband very rarely kicks off now. On the odd occasion that he does, I walk out (with the kids). If it is a really bad one, I get out my solicitor's folder which also has a diary of his episodes in it, and simply say to him, 'if you do not behave right now, I will invoke this'. He now immediately calms down because he knows I mean it.
I think it is possible to change his behaviour but you have to lay down the law and make him realise that every action of his will have consequences. Be hard, don't respond to his taunts, never cry in front of him and stop asking him politely to do things. Say instead 'If you do not pick up your clothes off the floor by tomorrow morning, I will put them in the bin'. Then do it.
Best wishes with whatever you decide.