As long as the abuse does not turn physical you have a chance. He is going to counseling which is a big plus. Many men would refuse.
While others disagree with me, your primary goal is to get him to control himself in front of the children. Try to maintain your family unit. My guess is he came from an abusive home himself, is insecure with low self-esteem and a low sense of self-worth. So he tries to boost himself up by putting you down. You get to play shrink with him. You must become super shrink. Praise him whenever you can and let the rest go. Do not fault yourself. To know a person we need to know the dynamics of where he grew up. Often impossible to know.
Also, in the old days it was believed men needed women to civilize them. Another job some women sign up for when they say "I do." If there were no children you could walk away. But the children need him, esp. as they get older. Take the high road and focus on the good. The rewards for your children and, in turn, you can be worth all the effort. Is it easy? No. But can be done.