Hi, I'm a former abused wife. I got away. You are an abused wife. You need to get away. So I can assure you it can be done.
If you don't get away, he will get progressively worse and you will die. It won't matter if your body is still alive, your soul will be dead. You must get away. Your children need you to get away.
First of all, write down all the (physical) reasons you can't get away right now. Do you have your own job and your own source of funds? Can you work at all? If you can't work can you find a new (alternative) source of income such as a supplemental or disability income of some sort? Do you have a separate bank account? Do you have savings?
So I'm suggesting you take some practical steps towards independence. Each step you take will help you get (emotionally) ready to leave. As your courage asserts itself, you will find your way. It is not uncommon for abused wives to make a few test runs, checking to see if the supports will really be there, before they make a final break.
As for the rest of it; the blame, the doubt, your fears that he will not survive without you, those are all excuses. None of them hold water.
Your survival is paramount. Your children need you safe and whole. He's an adult. He will survive. He might even, paradoxically, be forced to face his problems without you around to blame.