Is there a legal way to force my roommate to leave?

I live in a rent-stabilized apartment in a safe area in NYC. I have lived there for 2+ years. I found the apartment, paid the broker fee, security deposit, and my name has been on the lease since day one. After the first year, I had a roommate sign the lease with me. We lived together well for a year. We resgined the least for the third year, and it has been hell ever since. We began fighting over my dog, and he has taken to making my life hell. He verbally abuses and hares me (often in a ual nature), he pays no utilities, goes into my room and touches my things, cleans nothing, keeps me up late on work nights, has drunken friends wander into my room. It is hell. I spent months trying to move, but I have a Pit Bull and want to live somewhere safe, and moving does not seem economically possible. Since I have seniority on the lease, is there some way I can be granted a lease renewal without him when the time comes? I can almost take the abuse, but I'm afraid he will hurt my dog.