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If you have given your group tactics, the three you don't have selected should ALWAYS follow those tactics. If they're not attacking at all, make sure that you haven't put them on hold (hotkeyed to H). That makes them not move from where they're standing, so they will attack only very passively, if at all. If that isn't the problem, make sure you don't have any conflicting tactics. I *believe* they will prefer higher tactics over lower, so if you have a high one that conflicts with attack lowest health, that might mess it up.
Frankly, I did not use the tactics system very much. As I've noted a lot, I prefer to issue discrete commands to my party members. I really only allowed tactics after I'd burned a lot of available stamina and I virtually never let my casters to stay on tactics. It is not a great system and it didn't work as well as I remember BG2's automatic combat system working.
To answer your last question, the person you have selected MUST be controlled manually. You can't just let all four fight, as far as I'm aware. S/he will still autoattack a target (ranged if they can, otherwise melee if in range), but won't move or use any special attacks or follow tactics. Hope that helps. It's definitely NOT BG2's combat (which I preferred) but once you get used to it, it flows pretty smooth.
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