Should I Divorce or work things out?

I have been married for 20 years now and have 3 kids from the age of 11-18. I have lived with a man that has controlled me all the time. I need to ask for permission to do anything. I didn’t really ever have a social life either. He has also hit me and I have taken it. And the sex subject well he has been the only one I have been with that I don't even know what an orgasm is. I just got tired and know he wants to change but an old dog won't change that's how I feel. If I tool all of this was for my kids but now I don't know if I did the right thing. I want my liberty and want to do things when I want and if I want without anyone telling me anything. I know there is more than what I have been living and I am want to be happy and free. Do you think its worth staying and working things out? I took an oath for better or worse but I just don't know.