Definitely, Google "Sleep Paralysis"! Also, "Night Terrors". I get some of this, too. I like the floating/falling. I hate getting "stuck" and feeling like I can't move, and hallucinating voices and footsteps. I'm lucky I don't get night terrors (ie. waking up screaming, but can't remember why - it's more common in children than adults).
To control the stuff I don't like about sleep paralysis, I basically just practice good sleep habits.
Go to sleep at the same time every night (more or less).
Don't nap during the day.
Get enough sleep at night (min. 8 hours).
Wake up at about the same time every day.
No caffeine or chocolate after about 3 in the afternoon.
Read a few minutes before bed (instead of the TV or the computer - those wake your brain up).
Make sure my pillows are in good shape and I'm not too hot or too cold.