Are there rules for non-necromancer / magic users to control and / or train undead creatures without the use of magic objects?

Basically, I want to know if it is possible, for example, for a fighter to control a zombie or skeleton that they found and train them to do whatever they want with positive and negative reinforcement like a dog. I would also like to know if this could work with the more intelligent undead as a ghoul or perhaps the smarter undead might need a different approach to training.