I've had some small successes with lucid dreaming. It's not something I've tried in a fair while though because I find it affects my quality of sleep.

I found the trick to staying in your lucid dream & controlling it, is to take baby steps. It's best just to look around your surroundings & explore without trying to do anything over the top like flying for example.

I think eventually you'll be able to be more adventurous, but it's almost as if anything too exciting wakes you up.

You just got to keep at it, you'll get there.