Whats up? im new to the forums and have a question.

I've always been able to lucid dream, before i knew what it was. but i always have a problem, i cant stay in them, everything starts to get blurry or fade out and i leave the dream. ive tried rubbing my hands, spinning, sometimes they work, but only for a short time. any ways to stay in the dream, and make it more clear(not blurry and cutting out on me all the time.)