No. Not before or since. Congress has still not declared war on Iraq, however, the President has the power to deploy American troops into combat for a limited no. of days (30, 60, 90). This is to allow for rapid response in case Congress is on vacation, etc.
After the initial time period, he must either pull them out, or go through a whole series of requests and reports, and bureaucratic BS. Neither Viet Nam nor Korea were declared wars by Congress.
BTW, Congress cannot "authorize the President to take military action" under the Constitution. They do not have that power, other than a Declaration of War. What the president got was a poll of Congressmen who would support him. The resolution had no power of law under the Constitution.
He carefully laid out a case for war, and backed the opposition into a corner. If they voted no, and something happened, they'd lose their next election. If they voted yes, and it turned out the way it has, they can blame Bush, which they are. They were all self-serving cowards who attempted to wash their hands of it.