I think if you take steps to be your own person, handle the house stuff, the kids stuff, etc., with confidence, some of your attitudes might change (I'm not saying you have a bad attitude, just that your ways of thinking might change--either for the better or for the worse) and when one person changes, the people around them tend to change also.
Your husband might start to see you "getting on with your life" and decide that he doesn't want you doing that. You might "get on with your life" and feel better without him. Who knows? But lots of women have been a "single mom" and done just fine, and I don't think you're worse than any of them, are you?

Also, I think that you should communicate to your husband, tell him that you know what you've done wrong, tell him how you're going to work on doing better, ask him for help, if he's willing. Write him a letter, if you're afraid of getting teary-eyed. What have you got to lose?