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Perhaps it is as simple as turning the iPad to Off, truly Off and shut down, for 5 minutes or 15 minutes or longer, in order for the link between iPad and printer, by wireless, to be 'broken' or superseded or what.
Or you could try turning Off WiFi on the iPad for that long, also.
And perhaps, if those two measures do nothing for the situation, you might need to review
A. what driver version you have on the computer, and whether it is truly well installed, and
B. what app you are printing from on the iPad.
Please let me know what results you get from trying these measures... they will indicate how a solution may be reached that is more elegant than either or any of these possible procedures.