Drill your techniques with an opp same size and weight. Slowly have them build up their resistance until they hit full resistance. Try to analyze the minute details that make the tech work, and start honing. Then start your live rolling to work on attaining said position. I know this sounds too easy, but it has worked for me. As everyone says rep rep and more rep

I just like to get the repping up to full resistance, so you know the tech under pressure. Then when your rolling live, your used to the pressure, and just going through the motions, not scrambling or chasing your tech while defending/attacking and just trying to make it work. Scrambles are going to happen, it's just the nature of the game. But you get to starting points ie; side control top, side control bottom, Half guard, etc...