I miss my kids, But!!!!

I am 29years old, married and have 3 handsome boys. I got married at a very early stage, I was 20yrs when I met and married my husband.
So far marriage has been blissful and peaceful. I live at the North central part of nigeria and enjoy my home and peace within the city.
My husband is very loving, attends to my needs and spoils me once in a while. He is not perfect and definitely has he short comings but he is a family oriented man and cares for me and the children.
All of a sudden, my husband keeps late nights, having numerous girlfriends and his attention to the home front started to withdraw. This behavior started when we had our second son.
He graduated from late nights to the occasional beating and he has even gone as far as locking me out of the house. He now has an uncontrollable temper that even makes him to set all my clothes on fire; after which he apologized and bought me new sets of clothes.
But what I don't seem to get and understand is his insecurities, his the one cheating yet I am the one taking the heat. He has stopped me from keeping friends or even going out.
My husband prides himself with endless lies and deceit. One fateful day that he was out as usual, he called and said he has been arrested by the police and won't be coming home that day. Of course I was worried and scared, I asked my husband to provide the details of the police station and his whereabouts so I can come and bail him out; before I knew it he said the police has suddenly released him. Hmmmmmm!!!!!!!!!
As if that's not enough, he ordered me not to be friends with his best friend's wife; he never gave me a reason.
Just last week I updated a picture on my phone with this same lady he said I shouldn't be friends with. My husband comes home and beats the hell out of me in the presence of my neighbors. They asked that he stopped and pleaded but he kept on.
He immediately dragged me into his car and drove off, I didn't know our destination. To my greatest surprise he dropped me at my mother's house in Enugu and threw me out of his car and left.
My mother asked what had happened and after several hours of intense and heated discussions, my mother said I should go and see my mother in law.
Of course my mother in law wasn't on my side, she said she can't take me in that her son has already made allegations that I sleep around with other men, I'm a drunk and that I hang out with bad women. She doesn't want to have anything to do with me.
I looked at myself and returned to my mother in tears and just yesterday his mother came over to our house to plead on his behalf that my children are crying for their mother and her son said he did not divorce me. But brought me home to learn godly values and behaviors, that he will be coming to take me back home.
I just can't believe this. Did I marry a mad man? But I love my children and don't want to leave them alone. I am contemplating going back with him for the sake of my children. My family, my mum and brothers are insisting that I shouldn't go back. I am confused, please help me......