Chomsky supported initially Chavez, (who, by the way, and not as your link insinuate, was democratically elected), because his government initially improved the conditions of the most humble people in the country. People that lived in misery in one of the most resources rich countries in the world, elected what was then, a new hope.
As frequently happen, the new elite was incompetent, and get corrupted fast. Consequently, Chomsky criticized them.
Here there is video of Chomsky criticizing the Venezuela government:
https://www.youtube.com/watch?v=maHgtLp21Iw
And, for completion sake, here there is a video of the government of Venezuela criticizing Chomsky's criticism of them (in Spanish only, sorry):