I've only had sleep paralysis once, thank the Gods, because it was terrible. I have PTSD and it was a reliving of what gave me the PTSD in the first place, in a place where that could have legitimately been happening again (whereas if it happened now I would know that I was alone in my apartment). Never again, please and thank you.
I've tried lucid dreaming techniques but so far haven't been able to accomplish that.