Watch the Changing Tone online guitar lesson by Muriel Anderson from 50 Right-Hand Techniques You Must Know
From the time I started guitar at 8 years old until college I got my right hand stability by bracing my right hand pinking finger on the face of the guitar.
It wasn't until I entered university and started classical guitar that I was forced to let go of my pinkie in order to get a sweet relaxed tone and a variety of tone as well. Well worth it! Getting used to changing both the angle of the fingernail / fingertip and where along the string length you play allows you to get many tones from the guitar.
Once you get comfortable with moving along the string length, you can just think a tone color and the hand will go there!