Hi, mother of 5, grandmother of 2 here. Though 3 of my kids are grown, I still have an 9 and 10 year old at home as well as my daughter and my granddaughter whom I babysit. I did at one time work and take care of a household, and for me the best thing was to "choose your battles"..meaning there are some things that you need to let go for a minute. Laundry needs to be done, cooking needs to be done, if once or twice a week you can either eat out or just make a simple meal like franks and beans or something equally as simple do that. Don't expect to be able to get all the dusting, sweeping, mopping, vacuuming etc. done everyday of every week. As for you kids, try and change how you spend time with them like at bedtime, bathtime, with each child will give a some quality time, thats when you can talk to him ask him about his day etc, do that with each.. if they have separate rooms, try and read a story or get your husband to read to them so you can take a moment; also try and have a schedule..for me it helped that my kids knew that at 8 pm was bedtime and that gave me a couple of hours to myself, not time to clean up or pick up, just time to sit and breath. That is one thing I had to learn was that in the evening when I put the kids to bed was to instead of finding something to do in the house was to stop...sit down...and give myself some time to regroup.
I hope these suggestions help. Good Luck.