Hi there,
I would trust your gut on this one.  :)id your kids tell you to leave the guy? My guess is no--because kids are usually very protective and if they didn't want you together then they still would not now. My guess is that they really didn't understand the dynamics of this relationship.
That being said, perhaps you are considering their request because something inside of you wants to have a conversation with him after all of this time. If so, this could actually be healthy, if you have become stronger and want to prove to yourself, and him, that you would never tolerate his abuse again. I've done this before and showing up as a new and improved version of myself who no longer takes crap from anyone is extremely empowering. In fact, for me it's part of the healing process.
Good luck no matter what you choose!