The lucid dreams I had when I was younger were much the same - I'd spontaneously realise I was lucid, and get excited. I'd be able to use some abilities with struggle, but I'd lose them fairly quickly, and the dream plot would take over.
Make sure you ground yourself in your dream, before you go off having an incredible adventure. Take some time to listen to your senses, take in the detail you can see, what can you hear? Rub your hands together, this is a common way to stabilise the dream, as is touching the walls. If you reinforce the idea that this is what you will do when you gain lucidity, then you'll do it in the 'dream plot' where you feel you don't have control, and it will hand control over to you completely.
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