How to deal with a estranged biological father?

Il try to keep this short. My parents were together until I was 15. I was very close to my dad and after the divorce I spent weekends at his house until 17 when I moved in with him. At the age of 21 a man contacted me on Facebook stating he was my biological father. I confronted my mother who confirmed it and that she didn't want to upset me so had hidden this from me.

After some emails back and forth for a year at 22 I decided to meet him and his family (wife and 2 daughters then aged 13 and 16). Now I am almost 24. In the 2 years since I met them the man has been very controlling. He has asked me to cancel plans with friends to do things with him. He has contacted my mother on facebook in attempt to "form" a relationship for my "benefit" without telling me (he already knew my mother hates him). After already knowing my 20 year old sister feels uncomfortable around him if he goes to her workplace he talks about our mother and her past Behaviour etc. He has asked me until I give in to come back to their house after going out to dinner with them already knowing I had a 2 hour drive home and work the next morning.

So unfortunately I have decided I no longer want a relationship as he doesn't understand I already have a dad and he has attempted to refer to himself as my dad. The sad part is I was becoming close to his daughters (my half sisters) and now he has told them how I've "thrown him away and hurt him" and they now hate me. They've begun texting me that I've done this on purpose and I've made so many excuses.

At the end of the day I feel uncomfortable around him now and he's said I'm not helpful, not empathetic, purposefully hurtful, selfish, unkind etc.

Is there any hope to restore a relationship with the half sisters or find a way to deal with this?