By definition, a lucid dream is simply a dream in which you know you're dreaming. The term "lucid dream" does not have to correlate in any way with that dream's vividness or the control you have over it. However, it's said that by rubbing your dream hands together or spinning in a circle, your dream becomes clearer and more stable. Or, try yelling out "Increase lucidity!", or something to that effect. Unfortunately, though I've had a few clear lucid dreams, I'm still working on getting them more frequently, so I can't say much other than the one time I did rub my hands together, I do think the dream became clearer. Maybe you could literally try yelling out to your subconscience during a lucid dream to take away the fogginess. Are your normal dreams like this too? If it's only the lucids, it might just be a matter of stabilizing them and increasing their clarity. Otherwise, I guess I'm not really sure.