Can we Lucid Dream whenever we want?

Hi Guys, just wondering whether its possible to Lucid Dream whenever we wish to? I mean whether sleep is prerequisite for attaining LD’s or by doing meditation and going to ‘Theta’ states of mind we can enter the dream world?
Is there any exprert lucid dreamer in this forum who has mastered such a skill?

When we sleep, we can dream and we can lucid dream.
So this means, that theoretically you can have LD’s every night. Of course, such skill would be extremely hard to train.
There are a few people on this forum who have trained this skill. Mostly they use Lucid Living/All day awareness as their main techniques.