The dynamic model of two manipulators in handling a flexible payload is established based on distributed
parameter theory. The dynamic model of cooperative system is divided by using singular perturbation method. A lumped parameter slow subsystem describing the large rigid motion and a distributed parameter fast subsystem expressing the elastic vibration are obtained. An adaptive fuzzy sliding mode controller and a vibration feedback controller are designed. The characteristic of the main operator and ??0 semigroup of the fast distributed parameter subsystem is analyzed, so the distributed parameter closed-loop subsystem is proved to be asymptotic stable. Finally, simulation results show the effectiveness of the proposed control scheme.