The Rs have endured a tumultuous campaign since their return to the Barclays Premier League, winning three times on the road but just once at home.
Swansea are two points better off than the west Londoners and have excelled since promotion to the Premier League.
Warnock tipped the Welsh outfit for play-off success last season and is delighted to see them flourishing in the top flight.
"I am pleased for [Swans manager] Brendan Rodgers," the Rs boss said. "He has not had it all his own way, with many ups and downs.
"I remember speaking to him during one of his downs and I hope to think he took on board what I was saying.
"I like Brendan and I think he has got a lot going for him. He doesn't change his principles and they are lovely on the eye.
"It is difficult when you go down there because you know you're not going to get more than 40% of the ball.
"They have more possession than every team - including the top teams - but it is a game that I enjoy.
"You have to be prepared and that is what we will be."
QPR come into the match off the back of a last-gasp 3-2 defeat at home to Sunderland. The Hoops looked set for a point after clawing back a two-goal deficit until Wes Brown's 89th-minute header.
"The goals we conceded the other night were the worst I have ever seen," Warnock said of the defeat.
"By comparison, though, I think Swansea have had eight clean sheets, which is fantastic.
"I think you have to look after your own and hope you can sort it out on the training ground.
"We have not been able to do that these last couple of weeks so we have to keep sticking at that and trying to make out defenders better than what they have been over the past few games."
Whoever Warnock chooses in defence is likely to face the tough task of shackling Swansea striker Danny Graham.
The 26-year-old has netted five times since his £3.5million move from Watford and Warnock has revealed he could have quite easily been wearing the blue and white hoops on Tuesday.
"I had Danny Graham in my house," Warnock said. "I thought that [a deal] was all done and dusted.
"He will be playing against us and it would have been nice for him to be with us.
"He is a nice lad but that happened on four or five occasions in the summer. Doing a lot of work, spending a lot of weeks chasing players to finally get them to agree and then not to be able to sign them was a massive blow to me.
"It meant it was a waste of time for sort of eight or nine weeks when we really should have done some of the business.
"Because of that we had to change targets, looking for different types of players and it was never going to be the same.
"It really has been a bit of a mixed bag and I think both Swansea and Norwich benefited from getting on with their business and planning it all.
"We chopped and changed, were spurned just before the end of the deadline, which is why the only objective for us is staying up.
"We have to be positive. Yes, we need certain help in the squad to push us on but I think we're quite capable of doing that and finishing strongly."