Don't give up on your children. They might be angry and stuff now, but if you give up that will be a much stronger action to them.

Who cheated on who in your relationship? Who abused who?

His behaviour towards your children is not acceptable. What is he going to do when they all get older and do things to piss him off? Well, he is going to treat them the same way he is treating you.

His behaviours aren't just because of you so he shouldn't be doing that.

All around from your posts he had honestly doesn't seem like a responsible parent.

Please don't give up on your kids, be honest with the courts and tell them how your spouse has been handling the situation.