Equation [2.19] is the Lagrangian of Yang-Mills theory, while equation [2.24] is the definition of a non-Abelian curvature tensor. So the formulas you refer to are more or less the definition of the curvature tensor. The equations I wrote down earlier are the (classical) equations of motion you get from a term \textrm{Trace}[G_{\mu\nu,a}G^{\mu\nu}_a] in the action. The "Helmholtz equations" follow by substituting the curvature tensor G_{\mu\nu}^a by its definition in terms of the gauge field. The resulting equation is a mess though, since it's non-linear and the gauge fields do not commute. So the next step of inverting the operator is probably quite tricky.
If you want an introduction to some of these matters, I suggest the book by Baez: Gauge Fields, Knots and Gravity. It's full of errors, but fun to read.
Note that in the quantum case we cannot ignore the contribution coming from self-interaction. QCD has a coupling constant of order 1, meaning that higher order terms do not converge and so perturbation theory breaks down. In the high-energy limit this is less problematic, since the coupling constant is running and due to asymptotic freedom we enter a regime in which perturbation theory is indeed possible. The low-energy limit is still a big mess though.
@ Vanadium 50, sorry if this post is still too technical, but I couldn't refuse answering ;)