Are you seeing a therapist currently? I have seen a therapist for PTSD and anxiety, and she has worked out good strategies for me to deal with some of this. I don't know if you are married, but in my case, it helps to give over some control to my husband and realizing I can rely on him to be the voice of reason and not trying to overly control things.
For me, not upsetting my kids ITSELF is a huge motivator - my daughter, age 7, can get anxious about a lot, and I feel like I did her a diservice early in her life by being a "no, be careful, don't do that" kind of mom too often.
The other thing my therapist has done is helped me learn to "sit with the anxiety" - Not every scary thing re quires immediate intervention. Let the fear sit with you and do nothing for a while. Usually, the anxiety peaks, and then declines. It is in the decline, that I feel a bit more rationale. Truth be told, you likely know when you are cycling through an anxious period. If you can identify those, then you can be in charge of them.
Hope these ideas help. But ultimately you need to worry most about adversely affecting your child - so worry about that, and try to give up some of the control over other things.
PS - The other thing that helped me is recognizing that when I am anxious, I am not enjoying my kids and I am not being the best mom I can be to them. The anxiety becomes all about me, not really about them. Lookign at it that way, was really eye-opening. Good luck!