I am achieving lucid dreaming frequently these days. I have zero control in there. It's just that I know it's a dream and I am fully conscious, so I do things like tell the characters that I'm dreaming and they are all characters in my dream. They usually act as if that is interesting, but basically proceed with what they were doing.
Overall, personally, I am not finding lucid dreamspace to be conducive to insight or growth or working on my stuff. Nor, to be honest, am I finding it all that "fun" or pleasurable. I'm a freaky, bizarre person and it's pretty dark and freaky in my head. This is just me. Perhaps your lucid dreamspaces will be well-lit and completely controllable.
I don't know much about it or about specific techniques. Though, I have adopted one that I find to be very very useful personally. It was kind of shown in the movie, "Inception." It's the "reality check." As I understand it, the technique involves habitually checking something that is very "real" fairly regularly in all mental states.
I'm not sure what others use but I use text/the written word. Every once in awhile, I'll decide (even if it feels silly) to do a "reality check," so I look at a line of text, then I close my eyes and turn my head and wait a few seconds, then look at it again. If it is precisely the same, I am in consensual reality.
Now that I've developed the habit, when I am in dreamspace every once in awhile (either randomly or because something very very odd is happening) I'll do this check. In dreamspace my second check of the text line is always nuts. Typically it never even looks like text any more, is a different color, etc. That's when the lucidity "light" goes on over my head.