Don't worry, I think you could definately lucid dream if you worked hard on it. You're starting out fairly well, since you remember most of your dreams, and that's one of the biggest steps.

Control and lucidity are independant, so you can be lucid in a dream like yours where you have no control, meaning you could lucid dream even while your dreams are like they are now. Furthermore, gaining skill at becoming lucid almost always causes you to gain skill in dream control, so as you practice, you'll probably find yourself more and more in control of your dreams.