You chose this man to live with and have children with. probably because the
abuse was familiar to you. You may have even thought it normal at the time. But now you are older and, seeing other partnerships, want more for yourself and your children.
Do you need this man? He doesn't work. You work, go to school, and pay all the bills. He is no use to you, except for what grudging affection he may give. There is no advice anyone can give that will change him. The person to change is you.