<aura:component implements="flexipage:availableForAllPageTypes" access="global">
    <!-- attributes -->
    <lightning:utilityBarAPI aura:id="utilitybar" />
    <aura:attribute name="hasUtilityBar" type="Boolean" default="false" />

    <!-- event handlers -->
    <aura:handler name="init" value="{! this }" action="{! c.init }" />

    <p>Is there a utility bar? {! v.hasUtilityBar ? 'Yes' : 'No' }</p>
</aura:component>

({
    init: function (component, event, helper) {
        var utilityAPI = component.find('utilitybar');

        utilityAPI.getAllUtilityInfo().then(function (response) {
            if (typeof response !== 'undefined') {
                component.set('v.hasUtilityBar', true);
            } else {
                component.set('v.hasUtilityBar', false);
            }
        });
    }
});