You need to leave, the help is out there. He is mentally and emotionally abusive, contact your local women's aid, contact your local council, get the ball rolling. You may be depressed, but that doesn't take away from your husband's temper or issues.
Do you have a bank account? Who receives the CB? Does your husband see your income? Where is your wage deposited?
Get your ducks in a row, for you and your kids.
Start looking for a job closer to home.
Start putting £50 to £100 a month away if you can, forget about it and don't touch it. If you can put more away do so.
Cut down on things you don't personally need. Sell things you don't use, wear or need. Build up that 'run away from twatopottamus' pot.
You have 50% interest in that house. If you split you can either have him buy you out, he could move out and then agree to sell when the kids turn 18 or he can agree to sell now. Speak to a property solicitor!
Ensure you have a support network of friends and family close by.
Anything seriously essential for yourself and your kids (BC, bank accounts, Passports, health records, etc.), A change of clothes for DC and you. Pack in a bag and have it as a 'get out of there bag'.
There is help out there for women of dv and single mums. You will also get UC on top of your wage. You may also find that your child with additional needs may qualify you for further financial help. You may as well with a chronic health condition.
Don't stay, take the leap. It may be difficult at first but it will get better. It's better to live than exist.
Good luck OP!