Let $\pi$ be a complex representation of the compact connected Lie group $G$
(no need for semisimplicity here) on a (finite-dimensional) vector space $V$. We say that $\pi$ is of real type if it comes from a representation of $G$ on a real vector space by extension of scalars, and we say that $\pi$ is of quaternionic type if it comes from a representation of G on a quaternionic vector space by restriction of scalars.
If $\pi$ is neither of real type nor of quaternionic type, we say that $\pi$ is of complex type.
Let $\rho$ be a real irreducible representation of $G$ on a real vector space
$W$. By Schur’s lemma, the centralizer of $\rho(G)$ in $\mathrm{End}(W)$ is an associative real division algebra, thus, by Frobenius’ theorem, isomorphic to one of (a) $\mathbb R$, (b) $\mathbb H$ or (c) $\mathbb C$.
The relation between real and complex representations is, respectively, that:
(a) the complexification $\rho^c$ is irreducible (and we say that $\rho$ is absolutely irreducible) and $\rho^c = \pi$ is a representation of real type;
(b) the complexification $\rho^c$ is reducible and $\rho^c=\pi\oplus\pi$ where $\pi$ is an irreducible
representation of quaternionic type;
(c) the complexification $\rho^c$ is reducible and $\rho^c=\pi\oplus\pi^*$ where $\pi$ is an irreducible
representation of complex type and $\pi^*$ is not equivalent to $\pi$ (where $\pi^*$ denotes the induced representation on $V^*=\bar V$).
Also $\rho $ is a real form of $\pi$ in the first case ($\rho^c=\pi$), but
$\rho$ is $\pi$ viewed as a real representation in the other two cases
($\rho=\pi^r$).
Regarding the adjoint representation of a compact simple Lie group, it is always absolutely irreducible. Simplicity of the group is equivalent to irreducibility of the representation. Even in the semisimple case, admiting and invariant complex structure would mean that the Lie group is a complex
Lie group viewed as real, not possible due to the compactness.
Cartan's theory of real representations of semisimple Lie algebras is masterfully presented in modern form in
ESI Lectures in Mathematics and Physics
Arkady L. Onishchik (Yaroslavl State University, Russia)
Lectures on Real Semisimple Lie Algebras and Their Representations
ISBN print 978-3-03719-002-9, ISBN online 978-3-03719-502-4
DOI 10.4171/002
February 2004, 95 pages, softcover, 17 x 24 cm.
24.00 Euro