SDL will support Android very soon, see: http://forums.libsdl.org/viewtopic.php?t=6420
If you want to support as many platforms as possible, SDL is the best choice - at least in my experience. I have the same codebase in my projects and can target Windows, Linux, Mac OS X and GP2X (and iDevices if that would be allowed).

If you just want to target the big Three (Win, Linux, Mac) SFML is also quite good. (I've started on SFML Pascal bindings some time ago, I think I should finish them.)

As for Lazarus, TOpenGLControl and fullscreen: You can always set Borderstyle of your form to bsNone, WindowState to wsMaximized and the align of the OpenGLControl to alClient, but that's not really a good solution to emulate fullscreen.