I'm sorry your family isn't more supportive and asked you to leave. Have they ever offered to help you leave your husband?

Why didn't you leave your children with your husband? You said you're "not allowed" to go anywhere without them and you've mentioned similar things by your husband. Stand up to your husband and stop taking this crap. He doesn't get to give or take permission to or from you. Leave the kids with him--what's he going to do? It's not like you're abandoning them. Let him take care of them for a while. Get out of the house. Go for a drive. Volunteer or get a job somewhere and make some friends. Things won't get better if you keep letting him tell you what to do. You don't have to do what he says. It's up to you to stand up to him.