Try a "forced" restart of your iPad, using these instructions:
- On an iPad with a Home button: Press and hold the top (power) button and the Home button at the same time. When the Apple logo appears, release both buttons.
- On other iPad models: Press and quickly release the volume up button, press and quickly release the volume down button, then press and hold the top (power) button. Only when the Apple logo appears (it might take 15-30 seconds), release that button (ignore all other screens that might appear).
And, assuming you're trying to update your device wirelessly (via wifi), see this suppport article:--> If your iPhone, iPad or iPod touch won’t update
If the issue persists, try to update it via computer:
Learn how to update your device manually if you're using a Mac with macOS Catalina or later, or if you're using a Mac with macOS Mojave or earlier or a Windows PC.
If you still get no help, contact Apple Support directly, using this link:--> Get Support
Regards
Giulio