Planned lucid dreams always don't last long

I always plan my lucid dreams well in advance. Like I plan to make the thing I want to appear and it's the same thing/goal in the plan and it can go on for weeks. But when I finally do become lucid in the dream it's always at or very near the end of the dream and it has never improved over time. Those long or super long lucid dreams I do have but are rare and when it happens I don't remember my plan. I just become aware that it's a dream and end up doing somthing else or nothing at all. There is definately some fixed constraint at work here between waking memory and the dream state. My guess is when I do remember my plan I am already near to waking up and those that I don't remember is that I am in too deep in the dream state to remember.....:(. Anyone who has knowledge on this please reply? I don't want to chase something that is not possible.

IMJ

I can only share you my own experiences. I find it much easier to remember tasks in lucid dreams that I have in the (late) morning rather than in the early night. The more I've slept, the easier it is for me to remember anything from my waking life. Still, it's not impossible to remember things you want to do when in a lucid dream early in the night, it's just probably easier to remember later in the night/morning.

I hope this helps. :)

I've been struggling with bringing plans into my lucids, too. I've found that I have the best luck with carrying out my plan (especially if it is complicated) if I DEILD to it after about 5 hours of sleep.

Wouldn't incubated dreaming be perfect for this? Or am I thinking of something completely different...?