Unpaid sales commissions because company has cash flow problems

I receive a monthly pay. In addition I received commission for sales orders that is to be paid thirty days after my order has shipped to the ccustomer. The company has had cash flow problems and has been paying my monthly pay on time but my commissions about a year behind now for four years.I continue to sell and I am always begging for my money. By not being paid on time is affecting my finances and lifestyle. At times I have been owed over $40,000. They cut me small checks, 5,000,3000,1000 here and there and pay the owed amount down. But never pay the correct amount due to me. Because I need my commission besides my monthly to survive. Not being paid as per my contract has helped to a huge tax problem. I owe taxes because when they do pay me I need the money to pay back bills to survive. I owe three years of taxes. If I cancel my contract I will just be in line with the vendors who supply parts that are owed monies from the company.