A lot of people say that there problem isn't becoming lucid, but rather gaining control in their lucid dreams. From personal experience, I can say that the best way to control your lucid dreams is to believe that you can. The belief has to be genuine, though. You will not succeed if you simply go through these motions without actually believing. Some say that they can never control their lucid dreams, and that scary things can happen in them. Really, your brain is doing all the work making the dream scenario, and it is all in your control. Think about this as your subconscious of your subconscious, if that makes any sense. What I mean by that is even when you are in your lucid dream state, you are still creating your whole dream subconsciously and don't even realize it. "Trying" to gain control in dreams isn't usually successful, but "Knowing" you will succeed is. Doing this is pretty much like telling yourself what you are going to do in your dream, and not letting your mind take over.

My point is, don't go along with the lucid dream, but make the lucid dream go along with you.

Hope I help and feedback is appreciated