You are over complicating this, and also mis-interpreting it. You have noted yourself, you have already have 3 lucid dreams. Be they little more then 5 second fragments, you have proven to yourself, and accepted that lucid dreaming, for you, is possible.
There is no clear obstacle, because there is no obstacle. The only barrier to lucid dreaming, is it's effects. You think, therefore, there is. In your dreams, anything is possible, if you think of it, it is there. If you are convinced of monsters in the closet, there are monsters in there. If you think there is a barrier, there is.
What I practice is called ADA. It is basically a master reality check. I believe this is the right method for you. It works in the same way reality checks do, however it surpasses the obstacle where R.Cs fall- not realizing you are dreaming. That was one problem you stated above, was it not?
If you are aware of yourself, you notice more. In dreams, you are merely there for the ride- to watch and listen, not to experience or meddle, just to observe. In reality, if you do something, it has an effect- always. If you could transfer this control into dreaming, then all is possible. The only problem, so that the part of your brain that would normally operate this action, goes offline, asleep. Thankfully, you have a second half.
The logic side is useless as of now. You were depending on it's working, yet it never could. Now you have to learn to use the other side. Well, not really the creative side, that already functions at creating the dream. If you are aware during the day, you prove to yourself that you are in control, and all is real. Doing this, like R.C.s, will prove to yourself that you are in real life, or if dreaming, that you are dreaming. The idea is that a habit will form, uncontrolled by the brain, and that you will notice constantly throughout the day and night, all that is around and about you. That is "awareness". This carries over to dreams, and the logic center is given a helping hand, and woken up. Goal acquired.
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