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I have adapted wfsection by Catswolf to do this integrating Catswolf's spaw wysiwyg module, its for download at my site, it uses HTML WYSIWYG at both ends, which could be a security risk for public sites. An edit link appears on the main menu when the article creator is logged in, this takes the user to an article manager where they can edit their own articles.
xfsection a clone of wfsection allows users to edit their own pages, but no wysiwyg or HTML at the user end.
The new wfsection by Catswolf is on the way with lots more features like this, but no news as to when yet..