In this letter, we investigate an unmanned aerial vehicle (UAV) involved system, wherein the UAV is controlled by a remote base station to perform data collection tasks. To maximize the energy efficiency (EE), we jointly study the sensing and transmission scheduling, power allocation, and UAV control strategies, while ensuring control stability and communication reliability. This challenging non-convex problem is addressed using an efficient iterative algorithm. Numerical simulations reveal the relationships among sensing, communication and control, demonstrating that the sensing scheduling is primarily up to the control parameters.