The solitonic spin textures such as chiral solitons, magnetic skyrmions, and magnetic hopfions, exhibiting particlelike nature, widely emerge in magnets depending on the spatial dimension. In the presence of magnetic solitons, their number directly gives rise to an impact on magnetic properties and electronic properties such as magnetoresistance and hence, it is of great importance to control the number of solitons. Meanwhile, a systematic study on dynamical processes to control the number of solitons, particularly by adding the desired number of solitons to the ground state exhibiting periodic arrangements of solitons, has been limited thus far. In this paper, we theoretically perform the systematic analysis for the dynamical control of the number of chiral solitons in monoaxial chiral magnets by effectively utilizing the edge modes, whose excitation is localized near the edges. First, by using the linear spin-wave theory, we clarify that the edge modes are brought about within the bulk magnon band gap opened by the solitonic feature introduced by the static magnetic field perpendicular to the helical axis. Next, by using the Landau-Lifshitz-Gilbert equation, we find that the dynamical process associated with this edge mode exhibits the soliton penetration into the periodic arrays of chiral solitons in an applied rotating magnetic field. An additional chiral soliton penetrates into the system at the left or right edge depending on the rotating direction of the magnetic field, with the precursor wherein bulk solitons move to the other side. Moreover, we show that multiple soliton penetrations can take place till the system reaches the nonequilibrium steady state, and the number of infiltrated solitons successively increases with the amplitude of the rotating magnetic field after surpassing the threshold. We also clarify that the static magnetic field parallel to the helical axis brings about the difference in the number of penetrating solitons as well as the threshold amplitude between the clockwise and counterclockwise rotating magnetic field. Our results reveal that the desired number of solitons can be added within a certain range by taking advantage of the edge modes that appear without any special processing at the edges of the system. These results contribute to the development of an experimental way to control the number of solitons and are expected to be further applied to a wide range of magnetic solitons, not limited to chiral solitons.