An infinitesimal symmetry transformation can be parametrized by some numbers ##\omega^a##, where ##a## runs over the generators of the symmetry group. Then an object ##A_i## is said to transform in the representation ##R## if, under an infinitesimal transformation,
##A_i \to A_i + i \omega^a (T^a_R)_{ij} A_j##.
where the ##T_R^a##'s are the representations of the generators in the representation ##R##.
Let's look at how the vector potential ##W_\mu^a## transforms under a global gauge transformation. I'll drop the Lorentz index ##\mu## because it's irrelevant. We have
##W \to U W U^{-1}##
where ##U## is the gauge transformation matrix (we will look at a global transformation, so ##\partial_\mu U = 0##). For an infinitesimal gauge transformation ##U## can be written
##U = 1 + i \omega^a T^a_F##
where the ##T^a_F## are the generators in the fundamental representation. Similarly ##W## can be written in terms of the fundamental generators:
##W = W^a T^a_F##.
So we can rewrite the transformation rule, for an infinitesimal gauge transformation, as
##W^a T^a_F \to (1 + i \omega^a T^a_F) W^b T^b_F (1 - i \omega^c T^c_F)##
or, dropping negligible terms of order ##\omega^2##,
##W^a T^a_F \to W^a T^a_F + i \omega^a W^b [T^a_F, T^b_F]##.
But we know from the commutation rules that ##[T^a_F, T^b_F] = i f^{abc} T^c_F##. So the transformation rule becomes
##W^a T^a_F \to W^a T^a_F - \omega^a f^{abc} W^b T^c_F##
By renaming indices this can be rewritten
##W^a T^a_F \to (W^a + \omega^c f^{cab} W^b) T^a_F##
or just
##W^a \to W^a + \omega^c f^{cab} W^b##
Looking back at the first equation, this is the transformation rule for an object that lives in a representation ##R## where the generators are given by
##(T_R^c)^{ab} = -i f^{cab}##.
This is exactly the adjoint representation.