how do I remove a printer from my IPAD

There is nothing to remove from your iPad. If your Printer supports AirPrint - and is correctly configured to join the same WiFi network as that being used by your iPad, the printer will "advertise" is presence and will be detected by your iPad.

See:

• Use AirPrint to print from your iPhone, iPad, or iPod touch - Apple Support
• Connect an AirPrint printer to a Wi-Fi network - Apple Support

Apple AirPrint is a driverless connection protocol. A high proportion of modern printers intended for Home, SoHo and Business environments now support AirPrint:

About AirPrint - Apple Support

If your Printer does not support AirPrint, WiFi Direct is simple wireless alternative - but will require use of an appropriate App supplied by the Printer Manufacturer (e.g., many HP Printers use the HP Smart App).

A further alternative is to add AirPrint support to a USB Printer using a Print Server (e.g., Lantronix xPrintServer - or a Raspberry Pi running CUPS). A further alternative is to add AirPrint support to your existing USB Printer using a Print Server (e.g., Lantronix xPrintServer - or a Raspberry Pi running CUPS). Both are viable, however, you may find that purchase of a cheap AirPrint-capable printer may be more cost effective.

Your printer must be compatible with Apple AirPrint if your printer doesn’t support AirPrint you can’t see it from the iPad

Please identify the printer vendor and the full model name.

With that, somebody here can look at the options available.