If you open any management textbook, you will find that management is described by four functions: planning, leading, organizing, and controlling. Managers are often tempted to major in control and minor in leadership. This is unfortunate because it often creates the problems you are trying to avoid.
The Center for Creative Leadership defines leadership as direction, alignment, and commitment. Direction is similar to planning and alignment is similar to organizing. However control and commitment are opposites.
Controls are necessary in any healthy organization, but instead of thinking about how to control people, think in terms of how to gain their commitment. Greater control drives out commitment. Greater commitment creates greater control.