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In this paper, a QoS-aware power control algorithm is proposed. The maximum network throughput, minimum network radius and guaranteed network connectivity are considered in the algorithm. A power control model-based on non-cooperative game theory is given and the existing and uniqueness of Nash equilibrium for the algorithm is proved. In order to obtain better performance, a cross-layer structure is used to design a distributed power control algorithm. In order to verify the algorithm, simulation experiments are implemented and the results show that the algorithm is efficient and has a good integrated performance.