First off stop riding him until you gain control of his feet. Go to ground work teach him flex laterally on both sides with light pressure, when he gives you his head release instantly. Horses learn from the release of pressure. Lunge him and with lots of changes in direction to get him thinking. When you do ride him teach him a one rein stop, the flexing on the ground will give you the one rein stop in the saddle. Practice doing circles, yield his hind quarters, give him a job when you ride don't just be a passenger until something goes wrong.
He is worried, anxious and disrespectful gain his respect and trust by teaching him you control his feet, do desensitizing exercises, teach him you are worthy of leading him and he needs to look to you for safety. If he is that out of control you should not be riding him and if you do not have the knowledge and or skill to fix it get a trainer to help you. Good luck and be safe.