With a domino scheme, the midwife attends you at home when you go into labour until you both feel it's time to go into hospital. She'll come with you into hospital to deliver the baby, and then go home with you afterwards (asap after baby is born.) It's a good compromise between a home birth and a hospital one.
The snag is the scheme is only offered in certain areas. But you can cheat by opting for a home birth, and then "deciding" to go into hospital at the last minute (which was always your intention, but they don't need to know that, do they?)
I had similar feelings to you during my second pregnancy. My first labour ended in a ventouse delivery, due to what I now believe to be excessive intervention at every stage - at the time I just did as I was told, thinking they knew best. And I know what you mean about feeling everything is out of your control.
Second time around I didn't know what I wanted, except for a completely different experience from first time. This time I decided to be more prepared and booked NCT antenatal classes. I toyed with the idea of a "cheat" domino delivery, as we don't have the scheme where I live. But in the end I opted for a wonderful homebirth.
I never thought I would have - being the sort of person that forsees every type of disaster scenario - but the more I read up on homebirth, the more I knew it was for me. (And I am not a risk-taking person, believe me. It's just that, in the end, for me being in hospital seemed the greater risk.)
Oh dear, I seem to have rambled on a bit. I'm not suggesting that for you a homebirth is the right choice. Just that you should get as much information as you possibly can, on which to make your decision. I don't think you realise before your first just how much the labour and birth will affect you afterwards - and it doesn't have to be a full scale medical emergency to be hugely traumatic.