Thinking of it, I would agree that a power relation can be voluntary. However the amount of power transferred is informed by economic calculation. For example, if I enter in a salaried contract as a bodyguard, then I sell my employer the power to command me to beat up people, or not to, at his will. Should he issue me a command that I consider to exceed the value of the salary I’m paid, I will terminate the power relation.
I think a better name, for such would be a Voluntary Symbiotic Relationship, or VSR (pronounced Vis-er?). Although, there’s little point in reinventing the wheel when you could use “contracts” instead, I suppose.
Maintaining the balance for power within the relationship would be crucial for the VSR to be fulfilled, & could be monitored by am Arbitrator or an Arbitration Service. It would difficult to address every possible instance that either one in the VSR might consider exceeding the agreement, so contractual guidelines might be set to help cover some instances.