We are officially separated ! But my mom is not supporting me because of People she is blaming me for everything that had happened .What you are describing is more of a dispute of a family law (by that I mean for the judge to determine who has the right of the custody for children).
Now in that case what is the current status of your marriage. What steps did you do until now (in case you want to separate or divorce from your husband).
Without doing official steps first your attempt would be more likely considered a child abduction than anything else (you might not like your husband but unless you have custody decision he also has right to see his children and participate).
So try to straighten up that part first.
Am earning good and i can afford my kids expense that's why i don't want to give them to their father at any cost.as he is not a responsible man