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The three most common mistakes in U-turning, I think, are:
1) Not trusting the bike. (Most U-turns don't even require you to actually lock your bars. Doing smooth figure-8s at full-lock will give you a new trust in your bike's performance at low-speeds.)
2) Not staying smooth and light on the bars.
3) Not looking at your end point.
Mastering the whole trust thing is crucial to reach numbers 2 and 3. Staying stiff on the bars makes U-ies nearly impossible. Trust it, relax your arms, and look where you want to end up.
Edit: Another thing, some folks avoid their fears. Instead, seek out low-traffic opportunities to practice U-turns in the real world. It's the only way you'll get better at 'em!
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