The small area tracking system of the COMPASS experiment at CERN includes a set of 20 large-size (31 x 31 cm2) Gas Electron Multiplier (GEM) detectors, designed to reliably operate in the harsh radiation environment of the experiment. Based on gas amplification in three cascaded GEM foils, these devices permit to obtain high gain and good spatial resolution even at very high particle fluxes, at the same time minimizing the probability of a gas discharge. The design, choice of materials, assembly and quality control procedures applied to manufacture the detectors will be described. Results showing the operational characteristics and tracking capabilities of these detectors in various test beams, and their commissioning in the COMPASS experiment will be presented and discussed