Yes, dozens of them.

There are Manual and Platoon Exercises for Infantry, which cover how to march, the manual exercise, basic maneuvers for individuals up to companies, the same for cavalry, and for rifles, and each national military force had their own manuals of the kind. In the British and American systems, prominent members of the militia or other civilian experts would also write manuals to improve their country's military expertise. Some of them focus on the specifics of a single type of unit, or weapon - manuals for training fencing are popular until at least the close of the century - and others focus on campaign movement, logistics, medicine, scouting, artillery, et al.

The ones I linked above are just examples, but there are dozens, possibly hundreds of these, depending on how you'd like to count. This was a massive industry in the 19th century.