I find that I can be incredibly self disciplined when I setup my environment so that I don't have to fight myself. How do I fight distractions from my phone when I'm out with friends? I don't bring my phone. And yet somehow I always manage to meet with people at the time and place we decide on. I know not everyone can do this, I'm just using it as an example.
A feeling of a lack of self discipline is a symptom, much like procrastination. It's a mess of things all clumped together like a rats nest of wires. Everyone has their answer to procrastination (the book is in progress!) but beating procrastination isn't a skill because it isn't the root problem. Much like a headache could mean that you are going to die from cancer or you might just need some rest. If you feel you have procrastination problems, it's because something broke upstream and now you are blaming it on procrastination.
ETA: Herding my own actions is about preparation and personal story telling. If I setup a clear path for the next day and get good sleep, then it will work. If I get a bad night of sleep and I'm unorganized, then it's going to be a disaster and I'm going to complain about procrastination. If I see a cake which looks good and I have a weak reason not to eat it, I'm going to eat the thing. If I manage to convince myself to join the cult of low-carbs, then I wouldn't be caught dead with a piece of cake. If I'm working with people who are laid back, then I become laid back. If I'm working with people who are ultra-competitive, then I become competitive. It's all about pouring the kool-aid and then convincing myself to drink it. ;)