This is no way to live, you're right and you need to leave, this would be best for your kids. You need to get out and get yourself and them into therapy so they don't internalize the abuse. God Speed. You can become independent, it's all within you. You can do it!!!
yes and consider the children if they are seeing/hearing the abuse ...time to leave ...just do it .
See a lawyer or a low-cost legal clinic, and see if you can get child support if you go.