if you use hashchange event with hash parser, you can prevent default action on links and change location.hash adding one character to have difference with id property of an element
$('a[href^=#]').on('click', function(e){
e.preventDefault();
location.hash = $(this).attr('href')+'/';
});
$(window).on('hashchange', function(){
var a = /^#?chapter(\d+)-section(\d+)\/?$/i.exec(location.hash);
});