So, as one gradually learns to direct one's attention and purpose and not be easily sidetracked by temptations, distractions, and endless conceptualization, then it is difficult to be controlled by the dream ( which, btw, is what happens in a nonlucid dream). The first tool to "control" the dream is to be able to use our attention in a unified, less fragmented style, and be able to direct it, either opening it to the entire array of sensations, or focusing it a little bit more around some particular ones.
That is how we interact with reality, by the way we manipulate our attention, intention and expectation.
As longs as these are hijacked by instinctive, habitual patterns in the waking state, so one can not expect a consistent, stable routine of lucid dreaming.
I think the state of lucidity is a state of interaction and playfulness with the dream environment. For this interaction you need a sense of control (that is, to have access to other options besides the automatic ones), moment to moment opennes to feedback from the dream, and the ability to self-regulate your actions accordingly. If this balanced interaction is lost, then either nonlucidity returns, or we wake up.
So, i invite you to practice this mindful interaction while awake according to your creativity and style *
(* Edit: ofc one good example of this interaction while awake is the practice of moment-to-moment nonjudgmental curiosity and openess to our experience and senses, aka mindfulness. The thread is lost when one becomes distracted by something which is not direct experience, like daydreaming. A creative way to this way is like Hukif does with gravity, using the sensation of weight as a portal to direct experience and to know which reality he is in. A reality check, whether sporadic or more continuous, is an interactive practice in this sense)
At last, one word that deserves further consideration is motivation. When one's motivation is somehow connected to a virtuous, more altruistic intention, then failure and procrastination have less power over us. Because when the motivation is large, the failure is shared, and so the fear of failure is less.
For sure one can realize wordly pleasures and satisfaction in the lucid state, but the possibility of boredom, dissatisfaction, and meaninglessness won't be too far away. If we can include these more hedonistic goals into a larger one ( whatever it is, that inspires us and is good for everyone, not just us ) it will be much easier to keep failure and success in perspective, to be patient and persist, to be fearless. That is, in a nutshell, to assume the control panel.
In my opinion, one can find all these features in the practice of dream yoga, and it should not be reserved for buddhist people, but for every open mind
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