Leaving abusive marriage

So I’m 28 my husband and I have been together since I was 19 … mid April I found out he was cheating and got his phone and things got physical because of this (I’ll add photos) so backstory I have 4 children with him ages 8,4,twins are 18mo and he has always been controlling as In not letting me work , he never gave me money or let me go anywhere all these years if I need something he gets it for me, either I don’t have gas or he has my car keys so no car …this affair got deep they were saying I love you and had pet names and it went on since thanksgiving!!! So here we are and he’s asking me to work it out and I don’t want to I just want to see if there’s anyone out there who has been through this and has a successful story after going through this I just wonder if I’ll be happy again right now I’m set on ending the marriage because I already tried to make it work and it didn’t (he said well I didn’t try then like I’m obligated to try now that he wants to) and also he’s so abusive even emotionally when I don’t give into the affection he wants and stuff he will text me and say tell the kids I love them and leave and the first time I was scared to death he would harm himself so I texted saying I loved him anything to make him stop …then he did it last night (I didn’t react this time )he isn’t saying he’s going to harm himself he’s implying it feel like by saying “you’ll never see me again take care of my kids” things like that and I told him me being with you isn’t going to fix what’s going on with you mentally I want to make my own decisions from now on … I feel like it’s hard for me to handle these things and I’m just looking for advice I feel like I’m being cold and it does hurt me to say I don’t want to do this anymore but I just feel like I don’t want to and can’t also the leg thing happened at some point during all this (he threw my phone idk why , into a field and I believe that’s when the leg thing occurred because I had to jump a fence) also we built a brand new house fully paid for the plan is let me live here with the kids and he pay electric and internet (my only bills) and give me 600/mo for children see… I also added some texts to show how he talks to me …