I did some research into
remote support tools recently.
Bomgar will allow you to support other devices
from an iPad. It will also allow you to remote support iPads by sending configuration updates
to an iPad, but not enable you to share screens.
LogMeIn Rescue also provides remote support of iPads through chat and sending configuration updates, but again not sharing screens. Note that you'll need the add-on license for supporting mobile devices.
Teamviewer allows you to support other devices
from an iPad, but doesn't currently allow remote support of an iPad.
As far as I know there aren't any tools which allow you to remote control an iPad screen. I'd be interested to know if anyone comes across such a solution.
Hope this helps.