If he hurts you, he is also hurting your children. Maybe not physically, but it isn't good for them to see you hurt and still staying with him even though he is their father.
If you make enough money to pay the bills, you can make it on your own.
If marriage counseling is out of the question to try to help you put things back together with him, then go for yourself and the kids. No one deserves to stay with anyone that hurts them, whether it is physical or mental abuse.