Apparently, there's no events for utility bar components, but we do have the ability to get a hold of the current state of the item, which allows us to poll for changes:
<lightning:utilityBarAPI aura:id="utilitybar" />
...
setInterval($A.getCallback(function() {
component.find("utilitybar").getUtilityInfo().then(function(result) {
if(result.utilityVisible) {
// we're currently open
} else {
// we're minimized
}
});
}), 1000); // check every second
You can also check panelHeight and panelWidth for the current dimensions of the panel. Store the results in an attribute if you want to check the differences.
Try not to poll too frequently, as it may cause user interface lag. I'm considering this to be kind of a last-resort sort of deal, because it shouldn't be necessary, but this is as close as we get.