For a masterclass on how to continually introduce new material without rambling, I'd recommend listening to some Stravinsky: especially Petrushka, Rite of Spring and Pulcinella. All three are great examples of how to effectively move seamlessly between seemingly unrelated ideas. When you look closely at the scores, you realise that the material you just heard that sounds as though it came out of nowhere has actually been carefully building momentum in the background for some time.
Incidentally, all three of these pieces are ballets, meaning that the structure is dictated by the drama to a certain extent. Maybe it would be useful to look at the structure of some of your favourite movies, plays, musicals, operas etc. and see if there are any structural aspects that would translate well to your music?