We have analyzed the spatio-temporal patterns of current self-oscillation under DC bias and terahertz frequency-dependent nonlinear dynamics in semiconducting single-walled zigzag carbon nanotubes (CNTs). It is found that different transport states, including periodic and chaotic, appear with the influence of an external AC signal. The global transitions between periodic and chaotic states are clearly resolved from Poincaré bifurcation diagram. When the driving frequency is fixed at inverse golden mean ratio times natural frequency, the nonlinear CNT system exhibits a more complex transition behavior than at other driving frequencies.