There's a cracking way of "stabilising the dream" which I first read about in a book:

1) Find yourself in a lucid dream;

2) Lie down in the dream, in the same position that your physical body is sleeping in;

3) "Close your eyes" and "fall asleep" again.

The upshot of this is that you will reawaken in the dream with much stronger lucidity, and you can do it over-and-over again with fantastic results.

This is a so-called ancient Toltec technique that works brilliantly.