Yes there is, but not through chrome. You can use myMobiler (http://goo.gl/0KDQTX) or teamViewer (http://goo.gl/0JZFVE). You can control with them on your Android device (from your computer) or the other way around.
There is another way, with Chrome Remote Desktop (http://goo.gl/Ia53bi) but you can control only your computer right now (there is an android app) but I believe that there will be an update (in the future) so we can control our Android phone.
I know it's not exactly what you meant, but what you meant currently does not exist. Anyway, hope this helps..