His behaviour is always a choice. Issues that he has probably exacerbate his behaviour but they are not an excuse for it. It is not your fault and not your responsibility to fix or help an adult.
These type of people feel out their victims and look for ways they can take advantage and slowly escalate their behaviour. You haven’t done anything wrong but he has decided he can treat you like this and will.
They have ways that keep you with them or perhaps you feel it’s safer/easier for you to stay with him or he can change.
Please know that if he did love you, he would choose to treat you as such. He loves the idea of having you right where he wants you and you don’t deserve any of it.
Your children should be your priority here. Even if you think they haven’t seen something, children have a way of always ‘knowing’ or hearing things. Being out of the room for example doesn’t mean they don’t know.
Work with any services you can to get away from him. Dogs Trust I think, as well as others, offer help to foster your pets whilst you get back on your feet. Please look at organisations such as Harbour/Cranstoun depending on where you are. Also, look up the domestic abuse homicide timeline. Not to scare you, but you’re already scoring very highly on this from what you’ve said.
If you can, also speak to whichever point of contact you had in the police or ask to speak to their safeguarding department. There’s measures they can put in place to keep you safe (won’t publicise them here). There’s people who can support with non mols etc.
Unfortunately no violence for a few months is a normal pattern for abusers; they have to make you stay so they want you to think they have changed and keep a low profile until the heat comes off them a bit from police/services etc.
I won’t lie that choosing to leave someone is a very hard decision but there are people to help you out there. Upheaval to your life is one thing but much more preferable to the inevitable violence that will happen again, the damage to your children being around this or worst case, removed from you or even worse, your children having to grow up without you.
Please be careful and sending you lots of strength to make the right decision and keep yourself safe.