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A joint rate control and power control mechanism in wireless ad hoc networks with Quality-of-Service (QoS) requirements is proposed in this paper. Based on Network Utility Maximization (NUM) framework, we firstly analyze and give an optimization model which takes into consideration different QoS classes' requirements and network lifetime constraint. Then we decompose the primal optimization problem into three subproblems with Lagrange dual decomposition theory. A distributed joint rate control and power control algorithm with message passing is thus obtained. Our theoretical analysis proves rigorously that the proposed algorithm. can converge quickly.