I have had a few lucid dream where I have tried a new technique, try this and see if you can build on the idea.
Basically what you do is when you turn lucid, stand with your legs greater than shoulder width apart. Reach down and pull on your leg thighs from behind as if you are going to pull them off. Then when you do that, I felt as if a surge of energy went through my legs and a greater sense of awareness went into them making my lucid dreams last longer. I think this also helps when combined with jumping. Then proceed with other stability techniques.

Hope this helps, J.