yes, lucario can cling on FD. However, if he uses his upb to cling, his only option afterwards will be to wallrun up to the stage. TL should be able to just Dair him as he runs up over the lip and its all over for him.
just camp the **** out of him and avoid AS until he is in killing percentage (or close to it.. once he is at high percents he will try to camp you, since his AS will beat your rang and arrows), then move in for the kill.
Lucario is slow and predictable, and AS is easily avoided. TL has great arial maneuverability, making it very difficult for Lucario to chase after him & actually inflict damage.
One thing TL should watch out for is the dair gimp. Dair, if placed correctly, will **** TL's upb, often resulting in a nasty stage spike. Also, don't tether unless you have to because dair ***** that too.
one stage that should be considered for counterpick that has not been mentioned is Halberd. Lucario has poor vertical launch resistance, and rarely kills upward. Take him to halberd where you kill early and he dies early and you have a pretty good advantage. I suppose the stage size is a bit less than you might want for the matchup, but I think the blast zone factor is most important for Lucario because it prevents him from utilizing the one thing that makes him good--aura boost.