Emotional/manipulating/subtle control

Has anybody dealt with a partner thats emotionally abusive that you have kid(s) with? 
Ive come to realize im in an emotionally abusive and controlling relationship
Also very manipulative 
Its sad because he doesnt respect me ormy boundries  and I might have to take court action.... My babys only 4 months old.... Its to the Point where we cant be civil because everything is his way or the highway and im always wrong about everything........ Just wondering if any other moms been through this 😟