Full backup on failure
Unfortunately the maintenance plans in SQL Server are quite limited in functionality and the option that you are looking for doesn't exist as far as I know.

As Shanky has mentioned, you would need to look at some other tool for this such as the excellent open source backup and maintenance solution from (Ola Hallengren).

This has the specific backup parameter that you are looking for @ChangeBackupType = 'Y'.  From the documentation


  DatabaseBackup checks differential_base_lsn in sys.master_files to determine whether a differential backup can be performed. If a differential backup is not possible, then the database is skipped by default. Alternatively, you can set ChangeBackupType to Y to have a full backup performed instead.