Yes and no.
YES they can take ANY funds in your name in their possession to pay any debts you owe them without notice.
No, this is NOT taking money without permission. The terms you agreed to, but probably never read, when you opened the account SPECIFICALLY granted permission.
Note: Charged of is an ACCOUNTING term that means the account in no longer listed as a collectable asset on their balance sheet. If has ABSOLUTELY no legal significance.
Also Note: This may have been a loan used to pay for school, but it was NOT a student loan. If it had been a student loan, the US Government would have paid Chase and the IRS would have become the collection agency.
Edit: In response to MVD34: There is no need to read the loan agreement. The terms of EVERY loan, checking account, savings account, brokerage account, and every other account with ANY financial institution in the last several decades have included the 'right of offset' that Chase exercised in this case. If MS Word can in a 'Attorney's Edition", a new blank document would be at least 2 pages long, and this clause would be included.