An example method for control of a drilling assembly includes receiving measurement data from at least one sensor coupled to an element of the drilling assembly positioned in a formation. An operating constraint for at least a portion of the drilling assembly may be determined based, at least in part, on a model of the formation and a set of offset data. A control signal may be generated to alter one or more drilling parameters of the drilling assembly based, at least in part, on the measurement data and the operating constraint. The control signal may be transmitted to a controllable element of the drilling assembly.