Terry and Cole have been in a race against time to recover from ankle injuries for the west London derby at Loftus Road.
But they have trained without incident for the past three days and are set for a reunion with Anton Ferdinand, who Terry was cleared in court of racially abusing back in July.
It is reported that Ferdinand will not shake the hand of either Terry or Cole, who testified for Terry in the trial
"They've recovered, had a couple of days training and we expect them to be available," Di Matteo said.
"We're going to respect the rules and the protocol that is in place from the Premier League and set a positive standard to the millions of people watching across the world."
He added of the handshake: "We'll go ahead with it, yes."
QPR manager Mark Hughes is awaiting confirmation from the Premier League over whether the pre-match handshake must take place at all.
Hughes said: "There's a lot of debate over the handshake every time we have a game against Chelsea.
"We'll respect the handshake if that's what we're told will happen. It's not my decision, we abide by the Premier League. I've had a discussion with Anton about it but that will remain between us."