TeamViewer Remote -app for remote desktop control.
Go to Settings > Security and enable "Install from Unknown Sources" (or "Allow this source" in newer Android versions). Download Remote Control apk
Universal TV Remote Control App for IR or Wi-Fi controlled TVs. TeamViewer Remote -app for remote desktop control
If you are downloading from a third-party source rather than the Google Play Store: Download Remote Control apk
Use the built-in Google TV app for controlling Android TVs.