R.W.
That is SUCH a hard age. Honestly I think you are expecting a bit much from him right now. He's in the midst of seperation anxiety, gaining new skills, exploring, and being a toddler who doesn't WANT to go to sleep no matter how tired he is.
He's only a baby for so long...enjoy the rocking and the cuddling him to sleep. We put way too much emphasis on small children being independant sleepers way too young. This is a stage that all babies go through...don't make it into a battle of wills that will only end up making your life miserable and your baby sad.