Can anyone help me with my relationship?

This is kind of long peeps, sorry, but here it goes! My husband and I have been together 10 years, but only married 4 of them. We have always fought, but here lately, it has been so horrible that even his sister (whom I've only become friends with in the last few years) has told me she would have left her husband for a whole lot less.. My husband is a very negitative person! The glass is always happy empty, and if someone handed him $2,000,000 he'd be mad it wasn't $2,000,001.. He is very closed minded, and here lately, I have to ask just to go across town to see my parents. My dad is dying of stage 4 colon cancer, and I am very close to my parents, so I feel it's very important for me to spend time with them! He just wants to be in control.. He don't care if it is important or not, he just likes the power of saying no... Last month, his sister got free tickets to go see a new country artist, and wanted he and I to go. We could ride with her, the tickets and drinks were free, so it wouldn't cost a thing.. He said no, and when I asked why, he said "because I said no." I got upset, and at this time, we were living with his parents, so his mom told me to go take a shower and get ready, and he'd either go, or stay home pouting.. He finally realized I was going anyways, and he went and had a good time... Then when we were moving, his sister and I had to move EVERYTHING, because he simply didn't want to... My whole point is, his family sees how he is, and his mom can't understand why he is acting this way. She told him "There is no way I raised you, you a$$ hole!!! Because you would never treat her this way!!!" They all think I need to seperate from him... I can't afford to though, because we just bought a new house, and I have a new car... I also know, with his anger, if I don't move everything when I make that decision, he will distroy it, and he would never take me back.. So I know if I make that decision, I better make sure what I want, and it's the right one... I go to work, come home, unload the dishwasher, vaccum, start a load of laundry, cook dinner, eat while waiting for him to come home from his parents. Get done eating, still waiting for him to come home and eat so I can clean up the kitchen, change out the laundry, sweep the floors, clean the bathrooms, hubby comes home and gripes about what I cooked, eats, I clean up kitchen, take care of animals, hang up last bit of laundry, take a shower, go to bed and do it all over again.. So when I ask for us to hang out with my parents, or friends on the weekend, I don't understand why he has to be so mean.. Also, I work more hours than he does, and I work an hour away, so it's not that he is tired. I am just so tired of walking on egg shells, and I am becomming more an more unhappy.. I am beginning to question our love.. I am not asking anyone to tell me what to do, because I know that is my decision. All I am asking is what would you do if you were in my position?