If your visa is of category IR5, that means you are the parent of the US citizen who petitioned you. Unfortunately, derivative visas are not available in that category. Your children cannot join you, and your husband also cannot join you unless he is the father (or stepfather*) of the petitioner, who would have to file another petition for your husband.
After you arrive in the US, you can petition for your children and husband, but the wait will be years (approx 3 years for your husband and teenager, more for the 21-year-old twins).
*to immigrate as a stepfather, you must have married him before your child (the petitioner) turned 18.