Toxic

How do I get out a 3 year relationship that's toxic and violent. But there are young kids involved. I feel like I'm going insane trying to figure out how to leave. I don't really have anybody to talk to everyone is judgemental. I have no funds to just up and leave and we live together and he has no where to go and when I try to kick him out he always comes back with full force. I talked to a counselor and they said I can't legally kick him out and take my kids and leave without proper documentation but I don't have any money to leave and nobody to stay with. My depression and anxiety are through the roof. I just don't know what to do.😔 Anbody have an advice??