I used to have a puli - similar hair to a poodle - I would recommend you get him used to you touching and examining the ears before you try plucking the hair. Use treats to associate you touching them with something nice. Once he is used to having them touched start "pretending" to pluck the hairs - be really gentle and get him used to the action. Once he is fine with this you can start to actually pluck them yourself - I would recommend using an ear powder (I will try and remember the type I used - it has a strange name and was for the treatment of earmites but also had the dual purpose of being very grippy) sparingly sprinked on the opening to the ear to help grip the hair - the use your fingers or I used to find a tweezers good to pluck a small amount of hair at a time. My puli used to allow me to do this - I would say once a month - but obviously keep practicing regularly to ensure he is happy with pretent plucking!!
With coated breeds especially, but also all dogs - it is important to get them used to being handled and groomed from a young age.
Good luck