Such good advice already on this thread op.
He is abusive but you already know that don't you. What has changed ?
Has he become more abusive, have your eyes started to open or has your body started shutting down becoming ill with the constant intimidation and fear of the situation.
Whatever fear you feel, so do your children, they are adapting to survive.
Your world has become smaller, you probably are fearful of others finding out how badly he treats you, you do not feel safe in his company anymore, your confidence has been taken away. You appease him so as not to escalate his anger, do the neighbours hear?
All this tying yourself in knots and figuring out how to act as though you are in a normal loving relationship is becoming harder and harder.
Now stop.
Think of a time before you met, when you were 'allowed' to feel whatever you felt, anger, sadness, fear, dissapointment, happiness all the different emotions that have been surpressed because the only person allowed now to feel anything is your husband. Your moods and feelings must follow his.
He is a bully, a pittyful bully, one who dare not direct his anger at others, he comes home and takes it out on you, a cruel and unkind man.
Now view him with those eyes, you are stronger, you do not do this, you do not take out your anger on someone physically weaker than you, for example the children who you love, he does and he is weak innifectual man for doing so.
You were not born to take this abuse, how dare he, you have as much right to live your short life on this planet without fear, anxiety and intimidation, just as he does, he doesn't live like this, he wouldn't want it.
He has chosen your abuse, for you, how lovely for him, can you imagine being him and not being scared? He will not get better, only worse, your realisation of the situation will only make him angrier if he feels he is losing control.
You do need space, proper space, a different house where your rules apply, rules of kindness of love and respect and harmony. Until you are away from this leash of fear he has round your neck will you understand how tight it has become.
The noose is tightening, and you are slowly suffocating. Call Womens Aid, speak to them, this is abuse.
Freedom is scary but it's getting to the point where it's scary to stay isn't it.