As mobile devices flourish, users can conveniently use the network services through the mobility of mobile devices. The most popular environment is the Mobile Ad Hoc Networks (MANETs), which consists of wireless hosts that communicate with each other in the absence of a fixed infrastructure. Data transmission for MANET is mainly achieved through peer-to-peer communication and forwarding technology without restrictions on the direction or extent of movement. This type of flexible architecture is suitable for emergency relief and military applications. As a result, a set of network nodes, called connected dominating set (CDS), is thus proposed as the virtual backbone of MANET. It mainly forms a CDS through a group of gateway nodes, and through this CDS for message delivery and routing management to reduce overall power consumption. Therefore, in the past, many scholars have proposed improved CDS construction algorithms to achieve a minimum number of CDS. In this paper, the Improved Relative Complement Sufferage CDS (IRCS-CDS) algorithm is proposed to effectively find out the stable and minimum CDS. Besides, the IRCS-CDS can adapt to the changeability of MANET even in a more loosely distributed network environment. The complexity of the proposed IRCS -CDS algorithm is O(2n2+3n), which is lower than other algorithms. Therefore, the proposed IRCS-CDS algorithm is more stable and efficient even in a network environments with loose nodes or small node coverage radius.