Yes, those dreams are lucid dreams and you probably could induce nightmares to induce lucid dreams. My first few lucid dreams happened much like yours and I forced myself to wake up from them. I don't recommend trying to make nightmares happen unless you actually like them or tolerate them more than most people. Another problem with it is sometimes the first thing you would want to do in a lucid nightmare is wake up. After waking up you would then realize that you should have teleported to a beach or something.