OP you are doing really well. Please don’t feel pressurised by the posters saying “ get out now “. They are concerned for your welfare and know how much happier you will be once you have left. But nothing you have posted so far makes me thing that you need to grab a bag and run.
I’m not minimising your husbands violence to you, it’s abuse and it’s a crime. But I think you are better to plan very carefully because the biggest risk to you is NOT now, it’s around the time you leave.
Men like your husband only have two emotions - happy when you are doing as you are told and angry when you are not. He will be very angry when he finds out you are leaving. It doesn’t matter how you do it. He will try and ruin you anyway, even if don’t get an order. Even if you are conpletely and untterly reasonable. As soon as he realises that he can’t control you anymore he will hate you forever.
He will be even more angry when he goes to a solicitor and hears that you and the children are entitled to at least 50% of the marital assets. Remember he thinks you are entitled to nothing so unless you take nothing he will believe he is hard done to.
If you make threats or even a half hearted attempt to leave and then have to return , things will be much MUCH worse. You need to get this right first time.
I’m not trying to scare you, just to be realistic. You know what’s he’s like and so do I, because I used to live with someone just like him.
Plan plan plan. Leave nothing to chance. Assume that he will behave appallingly at every stage . Controlling men don’t do cooperation and compromise.
I know you are shitting yourself about how he will be. I wish I could tell you that’s he will be fine but I would be lying.
The only thing worse than leaving will be staying.