You need to leave. You have to protect yourself and your children, and frankly, who gives a shit about what other people think? You know the truth, they don't. He's shown you who he is. It's now up to you whether you become a doormat for his abuse and subject your children to seeing it, or you leave and life a life of safety. I know I sound harsh, but it's the reality of what your options are. None of us can make you do anything, but believe us all when we tell you that it will get worse.
If he's violent you need to be smarter than he is. Play nice until you can get out. When he's working tomorrow (presumably), gather bank statements that prove his pay and savings, passports, any other important documents. Give them to someone who can keep them in a safe place. Ring your parents/anyone who you are close with and can take you and the children in. Let them know what's happened, that you're leaving and you need help. Literally bung everything that you need, your kids need, and especially anything irreplaceable/sentimental/important into a car tomorrow, and go. I'd also highly recommend you file a police report regarding him assaulting you. At least that way if he tries to get custody, he'll be laughed out of court. It'll be on your terms.
You have to protect yourself. At least if you can prove his income, savings etc, you'll get an equal split in divorce proceedings, and fair child maintenance. This will keep you afloat.
I know it probably seems like this is a huge jump, but you have to look after yourself and your kids. What if next week he hits you again? What if the week after he hits one of the kids? What if he hurts you so badly you need to go to hospital, but he won't let you go?
Also, please delete your history on your computer. Make sure he can't find out before you leave, that you are leaving. The risk is too great. Women's Aid can advise more than any of us can, but also remember to delete any numbers you've rang off your phone. The only way you can get away safely, is if he doesn't know it's going to happen.
Take care of yourself. You can do this. No one deserves to be hit. No one deserves to be gaslighted. No one deserves to be abused. It will be okay, but only if you leave.