Whether you should leave should not be a question - it is obvious that you should. You should for 1) your own sake, 2) your children's sake. So no question here.

The question is how. You are probably in a tough situation because the house is not in your name, you probably have grossly over contributed your money and services (you pay the rent, you keep the house clean, you dogsit for him, etc. - it sounds like he has been exploiting you financially, although we do not know the details).

So you should check rental housing, put together a budget for you/kids living on your own, etc. - take practical steps.