My mom makes me miserable and I cant deal with her any more.?

I am not just some 16 year old that randomly hates my mom. I have felt this way since I was about 8 years old. My mom has cut me off from the outside world. She doesn't let me hang out with my friends, or even talk to my dad. All she does is nag me and my siblings. All three of them are treated the same way and they feel the same way that I do. When I'm at home all I do is clean and listen to her gripe. She has all of these paranoid conspiracies and she constantly shares them with us. It drives me crazy. She repeatedly tells me to do the same things over and over again and uses hand gestures like I'm mentally disabled. I am miserable. She always picks fights with me and reminds me how imperfect I am. I'm to my breaking point and I don't know how to deal with this. Every one at school makes fun of her and it is embarrasing. I'm going crazy because I have to live with her. Please some one tell me you've experienced this... :(