I think you already know the answer to that question. There are two scenarios here.
1 - your husband abuses you in a shoving, perhaps outbursts of name calling anger sort of way
2 - your husband is full out abusing you, you've lost your self worth, you've lost your initiative, he leaves serious marks on you or causes you serious physical harm, and you receive an onslaught of verbal abuse that calls you down and makes you feel this [---] big.
a - you want to stay with him because you love him, and you know somewhere inside, he loves you back. You want things to go back to the way they once were, or you want things to be the way you know they can be. You want to know the way to make this stop and the way to get him back to the person you fell in love with. You shy away from the thought of leaving because you will feel guilty for leaving, as if you are not simply leaving the relationship, but you are hatefully discarding him from your life and leaving him to the wolves.
b - you want out, you need out, you try to get out and are stopped, you wish every day things would get better, but in that little tiny remaining piece of clarity way down in the bottom of your heart, you know they won't.
When it comes to kids, they are an extension of yourself. If you are being abused, they are being affected, if not also being abused. If you need to leave, so do they. You're not taking your children away from their father. You're protecting your children from someone who is hurting them and planting life long hurt in them.
I'm assuming that since you are asking for outside opinion that you are somewhere between a and b, which means you're still in a place where you can muster up what it takes, stand up for yourself, realize he's not the be all and end all of your life, nor are you of his, and leave the situation before it gets to a place you know it can go. If your husband has lost respect for you enough to be doing this to you, there is nothing you can do at this point to help him, except to leave, and insist that he get counseling. After that, it's a draw. You either give him a second chance when (and only when) you have confirmation from his counselor that he is better, or you leave and find yourself that little piece of happiness we all deserve to have.
Take care of yourself first and foremost or you won't be able to take care of anyone else.
You are the cake, he is simply the icing.
I'm not sure if you can do this or not, I'm new here and haven't looked it up. I wrote a hub on domestic violence from personal experience and thought maybe you'll find it, if not helpful at least interesting. If nothing else, you'll know you're not alone.