Stuck / no control and how to wake up questions

This morning I had a kinda weird experience, it happened to me before but not this extreme.
I was sleeping on the couch and had a FA, counted my fingers but that was almost impossible, because it was not clear and I didn't see my hand, but I know for sure I was dreaming.
Tried to make the dream clear with verbal commands and rubbing my hands, but it didn't work.
I also couldn't really move, and it felt like my eyes were half open.
It went dark and I woke up, again a FA with no control and the same problems.
This happened over and over, only in one of the FAs I managed to get of the couch, but it felt like I was handicapped and halfway in my room I fell and woke up in the same situation.
In the last FA I had the least control and was just staring in front of me, I decided to wake up, but couldn't, I got... don't want to say scared but frustrated.
Finally I woke up, but after this I want to know:

How to wake up if you want to?
Do people have same experiences?
How to change this into a clear, full control, lucid dream?


Extra information:
- Slept 6 hours, WBTB
- The room was not really dark. (IRL)
- Isochronic audio in the background and my voice recording, giving hints I'm dreaming.

http://gallery.photo.net/photo/11310531-md.jpg

It's hard for me to explain. I guess a good analogy would be as if I'm sleeping like a bat. When I'm asleep it's like having my eyes closed and being encased in my wings, and when I want to awaken I force my eyes and wings wide open, stretching every muscle of my mind as if I was breaking out of a shell. Unfortunately I think for a lot of people FA's are just a natural part of dreaming and there's not much that can be done about it, perhaps there are more advanced techniques that I'm not aware of. Unfortunately for me this often leads to sleep paralysis, most commonly when awakening from nightmares, as I try and awaken so abruptly that my mind awakens before my body does and I spend a minute or so living the nightmare for real, but the technique works for me 90% of the time.

Not to worry I have had this exact same thing happen to me not too long ago. Just like you, when i ever got to move id wake up stuck again, and again, and again. I ended up waking up accidentally. Forgetting my "training". When this happens remain calm, a panicked mind will do you no good. Just wait it out calmly as you can. Hopefully you will go into a full blown lucid dream when it passes. It is scary at first. Ive had it happen so much when i was younger it helped me get used to it more now.