  This paper deals with solving distributed optimization problems with equality
constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent
systems. It is assumed that each agent with an uncertain dynamic model has
limited information about the main problem and limited access to the
information of the state variables of the other agents. A distributed algorithm
that guarantees cooperative solving of the constrained optimization problem by
the agents is proposed. Via this algorithm, the agents do not need to
continuously broadcast their data. It is shown that the proposed algorithm can
be useful in solving resource allocation problems.
