Imo, any "friends" who make strippers part of your bachelor party, are not friends at all. It just shows they do not support the commitment you are making to your fiance, and disrespecting your personal values. Then by calling her controlling, it is being disrespectful not only of your fiance, but also of your choice of woman to marry.
I would not want my husband going to a strip bar for his bachelor party either. That does not mean I'm controlling, but it means that I would question his commitment to being with me, forsaking all others. Imo, engagement means that the marriage commitment is already in the heart, and we know behaviour comes out of our beliefs, thoughts, and feelings. If a husband or bride to be go to a stripper, it would make me question what is really in his or her heart.
In the same way, if your friends believed in your marriage to this woman, their actions would be supportive of your commitment to her, and not even suggesting going to a stripper. My suggestion would be to enjoy the bachelor party, and then when they want to go to the stripper, they can go without you. Prepare to leave the party if you have to, by pre-arranging with a trusted friend who is attending, or by pre-arranging a ride with someone you can call at a moment's notice. This way the party can happen, and they can enjoy the "typical" bachelor stuff while you honour your wife-to-be.