Buster,
You are not, i repeat NOT a failure, you sir have had a highly distressing experience and it is obvious you care immensely about your family (i can tell by the way you are selflessly stopping your meds for their sake) and in my book that makes you a top bloke.
Don't let it get you down, anxiety like all mental health is an illness, sure its not short and acute like the flu (if only you could have vaccine!) it is nevertheless an illness and you need to view it as something that is affecting you now but something you can recover from.
Have you asked your GP about CBT? i think also that with your experience in the past maybe a bit of counselling would be beneficial, somewhere safe where you can go through what happened and help it make sense to you. Other than that try some relaxation techniques like progressive muscular relaxation or guided imagery it is all about exercising that link between your body and mind and getting yourself in full control. It also all about accepting that we all are who are there is nothing wrong with being ill - its not like you asked for anxiety is it? if you are not keen on meds then there are loads of exercises you can do and even if you do go on another course of meds then the exercises are the long term solution.
All the best mate. Keep your chin up