This should help, uses simple hash table.
$a1=@(1,2,3,4,5) $b1=@(1,2,3,4,5,6)
$hash= @{}
#storing elements of $a1 in hash
foreach ($i in $a1)
{$hash.Add($i, "present")}
#define blank array $c
$c = @()
#adding uncommon ones in second array to $c and removing common ones from hash
foreach($j in $b1)
{
if(!$hash.ContainsKey($j)){$c = $c+$j}
else {hash.Remove($j)}
}
#now hash is left with uncommon ones in first array, so add them to $c
foreach($k in $hash.keys)
{
$c = $c + $k
}