In this paper, we propose an analytical approach for adaptive decode-and-forward (ADF) relaying schemes consisting of burst data transmission based on pilot symbol assisted-channel estimation (PSA-CE) methods over quasi-static Rayleigh fading channels. At first, we focus on the error-event at relay nodes in which the transmission mode switching is carried out burst by burst, whereas previous studies assumed the transmission mode switching symbol-by-symbol, thus showing lower error rate bound. Under consideration of burst transmission for ADF relay systems, we derive exact error rate expressions which better estimate the performance of actual systems. Then, the average bit and burst error rates are derived in approximated expressions for an arbitrary link signal-to-noise ratio (SNR) related with channel estimation errors. Their accuracy is confirmed by comparison with simulation results. Furthermore, ADF relay systems with PSA-CE schemes are confirmed to select correctly decoded relay nodes without additional signaling between relay nodes and the destination node and it is verified to achieve the performance at a cost of negligible SNR loss.