Try any of the following solutions. I get errors with adb every now and then. And one of the following always works.
Solution 1
Open command prompt as administrator and enter
adb kill-server
adb start-server
Solution 2
Install drivers for your phone if you're not testing on emulator.
Solution 3
Open android sdk manager and install "Google USB Driver" from extras folder. (attached screenshot)
Android SDK Google USB Driver missing
Solution 4
Go to settings > Developer Options > Enable USB Debugging.
(If you don't see Developer Options, Go to Settings > About Phone > Keep tapping "Build number" until it says "You're a developer!"