Plan your escape. First check the legal side with a 30min free consultation at a solicitor. He/she will be able to advise about the pension, house, savings etc.
Have you any money of your own? ?Can you access the savings? If not can you start to syphon some off without him realising.
Find somewhere to live. If you run you must have somewhere to run to. You only get one chance when you're escaping. If you have to go back it will virtually impossible to escape a second time.
Choose an escape day and plan towards it. What can you take from the house without him noticing? I don't mean big things but can you take some crockery, cutlery, pans etc. Things you will need. I escaped with virtually nothing but it's amazing how little you actually need and the freedom is intoxicating.
Don't let him know where you have moved to; change your email address and phone number if you can. He will harass you with promises and, if that doesn't work, threats.
Don't worry about what other people think. He will do his best to blacken your name. If people believe him then they're not worth knowing anyway.
When you escape change some routines esp. if they are ones that he has imposed on you. Doesn't matter if they sound silly to other people. I started to watch the Simpsons at 6pm instead of the BBC News. Not that I didn't want to watch the news but he had insisted on the 6pm BBC News. So I watched the Simpsons and then Channel 4 News. Even now, 12 years later, I never completely fill the kettle.
Put yourself first. You are being emotionally abused. It breaks down your self esteem and makes you feel useless. You can do this. You will find strength you didn't know you had. Sometimes you will feel lonely but that's natural as you build a new life. I'll bet there are many times you feel lonely now even though you are still living with him.
If you need to, get your GP onboard. You make need meds for a while but then again you may not. Freedom may be so exhilarating that your anxiety issues fade to insignificance especially as most of them are probably caused by your husband anyway.