Hello, i am a mother of two daughters in need for assistance

My oldest daughter is 17 and younger daughter 9. It's been 30 years since me and my husband got married, and i have always been made to do all household including grocery shopping, even when we lived with his parents, but his parents drove us away from that house because I called the police on my abusive mother in law and instead accused me of hitting my mother in law which I never did, and still I was publicly humiliated and boycotted by the people living in our area, they called a public meeting, and in that meeting my husband hit a glass on me. This was a long time ago, and since then he has been abusive towards me, he would hit me if i tell him not to drink or tell him to spend time with his children, or anything that upset him at all, he had countless affairs, some of whom I confronted but then I stopped, because he would, harrass me mentally and hit me more. He would not come home for days, and not care what happens to the house or the kids, he has also hit my oldest daughter many times when she tried to defend me, and has been very emotional unavailable for her. Few years back I called the police on my husband when he hit me on holi and he stopped hitting me but continued to be even more absent from our lives now and more into other women. Two years back we took a separation and he pays me some money every month, but now he doesn't take any responsibility in the house at all, he purposefully took a job in another district so he doesn't have to be available to us. I have a job but the money is not sufficient, it's hard for me to manage my job, my children, their education, the house, loan payments, insurance and everything else. I have also aged and have got osteoporosis now because of which i have terrible body pain if I work for too long do any physical activity for two long. I cannot afford helpers. I don't know what to do. What are the legal actions I can take pls help