  In this letter, we study an unified resilient asymmetric bipartite consensus
(URABC) problem for nonlinear multi-agent systems with both cooperative and
antagonistic interactions under denial-of-service (DoS) attacks. We first prove
that the URABC problem is solved by stabilizing the neighborhood asymmetric
bipartite consensus error. Then, we develop a distributed compact form dynamic
linearization method to linearize the neighborhood asymmetric bipartite
consensus error. By using an extended discrete state observer to enhance the
robustness against unknown dynamics and an attack compensation mechanism to
eliminate the adverse effects of DoS attacks, we finally propose a distributed
resilient model-free adaptive control algorithm to solve the URABC problem. A
numerical example validates the proposed results.
