He needs to be seeing a professional. As he isn't compliant with his meds, it's unlikely that he's going to be compliant with going to therapy or a psychiatrist but in that case I think it may be wise if you inform a doctor or whoever distributes his medications of these behaviors. It isn't safe. He isn't safe, your kids aren't safe, and neither are you. It may be necessary to move out again until he is able to get himself together... A facility might even be best for all involved for the time being.

You show interest in wanting to ween out of this relationship, and I think moving out for your safety again would be the first step. The other arrangements can come later. I know you may feel like you don't want to make a fuss or other reasons, but it's time to reassert yourself.

Before you worry about him, please take care of yourself first and your kids. His behavior and emotions will never be on your account.

Good luck, I know you can do this.
If you feel you are ever in immediate danger, call emergency services or go to a woman's shelter. There are lots of women in the world who have experienced the pain that comes with having an out-of-control husband.