You will not get a 2x4 from me today. You've been far more patient than I would have been. You gave him ample notification of the appointments and he replied that he had no problem w/that. It's not your problem he can't remember things and that's why he should have a calendar to write things down on. As a parent, he needs to be more available and receptive to changes. Like you said, they are people and not toys to pull out the closet to play w/when you so desire.
Stand your ground because if you back down on this one, he'll pull this crap again. Your sil is correct in advising you to stand your ground and set that boundary. I don't think he realizes that even if he takes them to their appointments he is still spending time w/them. How long does it take for the children to see a dentist...2 hours tops?
Yes, your h is on the verge of losing everything and yet, he's still acting like an utter @ss. Well, it will be interesting to see what transpires in the weeks to come w/the holidays rolling in quickly.
BTW, you are only human and can only take so much when they are acting like @sses. Sometimes they need that good old bashing to see that you are human and won't take any more of their crap.
Hang in there!
Sit quietly, the answers will reveal themselves when you least expect them to. The past is gone, the present is a gift and you need to focus on today, allow the future to reveal itself when it is ready.