I agree what you posted has made me suspect in the least emotional abuse and isolation. What your husband is doing is how abuse begins - isolating the person. from the post he has isolated you using the children. You cant go anywhere without them for any real length of time. Im wondering how long it is going to be before he stop allowing you to take the children with you so that you are even more limited. and no non abusive husband times their loved ones time away from home and then calls them to tell them to get home. Lots of guestions going through my head right now -

How long is it going to be before you are no longer able to leave the house to go to your relatives?

How long is it going to be before your car keys are taken and given to you only to do the shopping with only this amount of time to do it in?

how long is it going to be before he starts limiting your phone calls?

How long is it going to be before you are no longer able to use the phone?

As you can tell I have been there and girl Im afraid you may be (Im not in your real life so I don't know for sure) in the first couple phases of Domestic Violence.

My advice now while you still have freedom of the car and kids and a way to remove the clothes from the house safely (laundry) I would at least talk with someone in your local Domestic Violence or Rape crisis center. They will be able to let you know for sure if what you are going through is the beginning stages of domestic violence and give you some options should you want to use them such as shelter information, support groups and therapy, reporting process should you need police intervention. I cant tell you to get out for I know myself how hard it is to make that decision but please educate yourself on your options and what to expect in each phase of domestic violence so that you will be able to make decisions when the time comes where things are totally out of your control and things are emotionally charged.