I want to leave him, but i dont know how?

I've been with my Bf for almost 5 years now, we have a child together and he lives with me and my 2 other kids. When I met my Bf he lived with his dad and had no real responsibilities. Once he moved in with me he became so controlling,rude, lazy and demanding of me. He has A.D.H.D and becomes very annoying and aggressive (in a childish bully way) when he does not take his medication. He plays video games all day long and smokes weed, he does not have a job, and in the 4 years I have been with him he only had a job once, because I threatened to kick him out. He quit his job and went back to the couch, he does no house work and makes becomes very argumentative when I ask him to help me with something. I'm trying to take care of my kids and a now a lazy man, with the little money I get.

I start college tomorrow and he will be at home wasting hydro. I don't love him at all, he makes me feel like his mommy, we don't really sleep together anymore, I'm very depressed all the time and have panic attacks from being so stressed out. Bills are piling up.

He is only nice to my kids when he wants to be, he is ruining the relationship between me and my kids, he argues with my 8 year old who has A.D.H.D and calls her out on things that could be prevented with good parenting skills. He's spiteful, argumentative and gets the whole house going, I'm constantly fighting and screaming to break up arguments with him and my kids who are only 6 and 8, my kids are acting out at school now. I feel I've lost control of everything, he does not make me happy and puts little effort to change that, he has no real future goals or current goals which is the opposite from me.

I've tried breaking up with him, but he just cries. If I lock him out he won't go away, he cries and kicks my door all night, the whole neighborhood can hear him. I can't get away from this toxic looser. Help!