I think the ONE question is: Are you willing to live the rest of your life like this? Are you willing to make your children live the rest of their "childhoods" like this until they're old enough to leave home? Is it fair to them?
Sweetie, you ARE being abused. And the kids are too. I know why you are reluctant. But he isn't going to change -- you've seen that.
God bless, my friend. My thoughts & prayers are with you. Hugs, Lee