Can you stay with someone who abused you?

This is a question i ask myself a lot right now i was living with my boyfriend but now i don’t i had to get out of that house before i literally murder him but I’ve been living with my sister for like 3months now and i have been happy, living with him was just the worst thing i could do and we did break up and got back together but within the two years I’ve been trapped and felt so uncomfortable and felt like i couldnt express myself. But further into the story my boyfriend has been abusive in our relationship i never has this happened but my mother was in two abusive relationships i always said i wouldn’t but it happened, we argued so much that I can barely think of the good times he got so jealous all the time and i never really had friends to talk to and i have a big family but i stopped going to them because he wouldn’t like me going there all the time or telling them my problems. Now that i moved our he wanted me to move back in i told him well around Feb of this year i would, but i gave it so much thought and every time i go to his house i would get uncomfortable but not say anything about it until a day ago i told him i can’t move in i broke down saying how much the abusiveness broke me so badly that staying there made me just so hurt, and now that I’m thinking more i really regret trying new things with him because now my mind has me wondering why am i with him if he did this i can’t even forgive him and i feel him changing is just an act....idk but how can i be with someone and feel this way....

What are your thoughts and have someone been with an abusive person and stayed and they changed. Or did they overcome it and just moved on??