I am not going join the bandwagon an jump on your husband, In my opinion he is an obstacle to be worked around. I suggest you find the nearest women's shelter and drop in. They will be a source of information and ideas. I am not suggesting you take the kids and move in, but in Pennsylvania a person just cannot abandon their spouse if they have a mental illness. I know, my wife ran up against that when she divorced me. The law is on your side. Use it. You will never stabilize in this relationship and your kids will learn the wrong way to be a man.
I wish you the best.