Help me please

I dont know what to do i am so lost and so heartbroken. I am a stay at home mom and I want to leave my incredibly cruel husband. He has called me fat, told me I have a turkey neck, makes fun of my faith, says if I try to leave he will take my kids from me, just some really really mean stuff. We only have one car and I dont have a job so I make no money. If I leave, I leave my kids and I dont want to do that. What are my options? I just can't do this anymore. I am so broken and my kids deserve to have a happy mommy. He gets mad that I don't please him but would you want to have sex with a man like this? He says I owe him because he provides for me and my kids. Thats true but I dont deserve this at all. Im just so broken and lost and I feel stuck. 5 years ago things got so bad I left him and out of anger I slept with 2 men which I highly regret. I have moved on since and decided to get back together with my husband and every single day he calls me a whore and a slut and to burn in hell. What can I do? Please someone help me. I am stuck in my own personal hell