By　using　the　Lyapunov　control　approach-an　optimization　algorithm,　we　propose　a　dissipative　scheme　for　efficiently　preparing　the　three-dimensional　entangled　state　of　two　Rydberg　atoms,　which　subject　to　Rydberg-Rydberg　interactions　at　the　antiblockade　regime.　The　steady　target　state　is　the　unique　dark　state　of　the　two-atom　system,　and　is　achieved　with　high　fidelity　under　the　Rydberg　pumping　and　the　atomic　spontaneous　emission.　The　time　required　to　settle　into　the　high-fidelity　steady　state　is　greatly　accelerated　by　the　help　of　Lyapunov　control,　which　takes　effects　while　the　system　is　initially　prepared　in　the　states　containing　coherence　between　the　dark　state　and　decoherence-sensitive　bright　states.　The　numerical　results　show　that　a　fidelity　of　the　steady　three-dimensional　entangled　state　above　0.99　can　be　achieved　around　2.2　ms　with　the　current　experimental　conditions.　We　study　in　detail　the　optimal　control　parameters　and　show　the　robustness　of　the　scheme　against　random　noises.　The　scheme　may　be　generalized　for　preparation　of　more　complicate　multi-atom　entangled　states.