Hi!
I also have only recently found out the term for lucid dreaming.Before I had couple of brief moments of lucidity and I have always been vivid dreamer.
Now since I discovered this subject I have had some success almost immediately,with some techniques I found online.
What I read somewhere,that just when you become lucid,bring your focus on some external thing.This has already worked for me few times,last night I had my longest lucidity period so far and it was quite freaky too as at one point I was split in two and was actually sitting next to myself!
So this is what I mean by focusing on external thing(example from my dream):
I was driving in a car with friends and suddenly noticed my hands,at which point I became lucid.Then I very quickly made conciouss effort to focus on something(I felt I had to be quick,before I'd wake up or lose it)so I focused the car which was driving in front of us and voila!
So far I have only had partial control in my dreams,but I must say this is very exciting!
Hope this helped.