Whats the difference?

actually lucid dreaming is a form of astral projection. it just deals with a different plain than what most people would identify as the astral plains

All dreams can be controlled, and you are always in control. Your dreams are what you are thinking about. You may not be conscious of it, but you're in control. Meditation before sleep is something I always suggest, it helps calm your mind, and helps you consciously control it.

Your subconscious is still you, so you are always in control.

Sorry for the double post, but Rashnu was right. Lucid Dreaming, is pretty self explanatory. It is just a dream, meaning, it's in your head, it is on another plain.