There's no such thing as "involuntary lucid dreaming" - either you're aware that you're dreaming (lucid), or you're not aware at all (non-lucid/normal dream).

Dream control isn't related to being lucid. In other words, you can be in a normal dream and control things, or you could be lucid but unable to control anything. I've had non-lucids where I've thrown trucks, fallen from great heights and even taught a dream character how to summon objects. As for the darkness of your dream, I'm unsure what you mean by that.