Hi I'm a stay at home mum of 4. I have daily troubles and triumphs! I try to focus on the positives and praise!!! Also
#1 RESPECT- you should give respect in order to get respect-ask them their opinions and let them make choices but don't let them take over, give them a choice of 2 or 3 acceptable options!
#2 TRUST-you need to let them know that you trust them, give them some small simple responsibilities, eg.watering the plants/maybe some pet fish to take care of! etc.
I really wish you well and maybe you should try to take some time out for yourself (with the help of your hubby or an understanding friend/relative)! I know how hard it is, but just an hour a day for a candlit bath, or quiet walk with your pooch to help you unwind so you can reflect on your day!