If you don't leave, you're the problem, not him!

If you can't leave for yourself, do it for your children. Your son could grow up to be an abuser, and your daughter could be in abusive relationships. After all, this is what will be modeled to them if you stay.

The chances are either or both you and your husband grew up in dysfunctional homes.

Break the cycle now, while they are young. Give yourself and your children and grandchildren a chance at happiness.
If you stay with this man, the cycle continues, and everyone is robbed of happiness, and that's on you.

I apologize for pontificating, but I grew up in a dysfunctional home, and I still suffer the effects of it (and I'm 60!). They don't have a choice of staying in an abusive home. You do. And your choices affect them the most.
If you want to stay, then do. But don't subject small children to that horrendous choice. Send them somewhere loving to live. Somewhere where they will at least have a chance.