Oh OP, this man does not respect ou and he never will. Even if he doesn’t like you, which he clearly doesn’t if he’s so disrespectful towards you, he still wouldn’t be justified in treating you this way.
You’re framing the question all wrong. The question is not what can you do to earn his respect, the question should be, why does he stick around if he really doesn’t like you?
I’ll give you a clue, and it’s not for the kids. The reason is that he enjoys belittling you and making you feel small. By putting you down he feels bigger, and by controlling you he makes himself feel powerful.
Don’t forget that what your kids see when they are growing up will be their template for life. This is normal to them. Speaking to you like a piece of shit will be just an every day, or three times a day thing. What about when they grow up and have partners of their own? Do you think they’ll just forget everything they have been shown about being in a relationship.
OP this is not ok, and there’s nothing you can do that will ever make it ok. Please get some help, because however small you feel now, every day you’ll feel a little bit smaller, and every time your DC see your H being an arsehole to you it’ll become a little bit more normal, a little bit more acceptable.
OP you’re worth more than this, a lot more, and so are your DC and so are their future partners.