I was going to write suggesting an APVO
However your case is , as you say, complex.
The problem seems to be a mental health issue, and not one of willful objection.
Unfortunately, under our judicial system, there is little that can be done. I’m sorry to say.
Being mentally ill is not a crime, and neither lay people nor the police can commit a person to seeking treatment for it.
You should be calling the police every time there is an adverse encounter, so that a record can be created.
The only time the judicial system will intervene is if this person does a crime (assault, murder etc) and more than likely they would be then treated under the Mental Health Act