Yes IFNULL function will be working to achieve your desired result.
SELECT uo.order_id, uo.order_total, uo.order_status,
(SELECT IFNULL(SUM(uop.price * uop.qty),0)
FROM uc_order_products uop
WHERE uo.order_id = uop.order_id
) AS products_subtotal,
(SELECT IFNULL(SUM(upr.amount),0)
FROM uc_payment_receipts upr
WHERE uo.order_id = upr.order_id
) AS payment_received,
(SELECT IFNULL(SUM(uoli.amount),0)
FROM uc_order_line_items uoli
WHERE uo.order_id = uoli.order_id
) AS line_item_subtotal
FROM uc_orders uo
WHERE uo.order_status NOT IN ("future", "canceled")
AND uo.uid = 4172;