Bringing up children was never easy and teenagers are even worse.
As for what you do now, well to be honest I am not too sure. To start with I suggest that some form of as friendly as possible negotiation with your husband daughter and social services would be as good a place as any to start off with.
There is I am afraid a very good chance that such friendly negotiations are not possible. But you I think must give it a try as once such things get even more out of hand it is very difficult for you to regain lost ground.
If the worst come to the worst then more aggressive steps must be considered. You must then get help from someone who knows what they are about. If you can afford it then try to get a good lawyer who has some experience of such things, rather difficult but must be done.
If like many single mothers you can`t afford a lawyer then get along to the Citizens Advise people. They will put you straight about such things as Legal Aid and may well be able to find you a lawyer.
You will have to be patient as such things can take a long time. Try the friendly option first as such things get even nastier once the lawyers get involved. You may well have a hard time ahead of you so just try not to let it get you down too much.
Best of luck with it all.