Autonomous Underwater Vehicles (AUVs) are widely used in ocean science, marine engineering, and defense sectors, and their deployment and recovery process is critical and prone to safety accidents. To address the docking challenges faced by existing ramp-based recovery systems under rough sea conditions, this paper proposes a tail-end capture mechanism based on an inclined ramp and dynamically adjustable pulleys. This mechanism compensates for the roll motion induced by wave excitation by dynamically adjusting the tilt angle of the capture rope. Two control strategies, PID control and Active Disturbance Rejection Control (ADRC), are designed and compared based on MATLAB simulations. The results show that the proposed mechanism effectively compensates for wave-induced disturbances, improving the success rate of the docking process. Additionally, the ADRC algorithm demonstrates superior compensation performance across various sea conditions, with significantly better adaptability to environmental changes compared to the PID method. This approach effectively reduces the impact of waves on the recovery system, enhancing the success rate of the docking process and improving the safety of the ramp-based AUV deployment and recovery system.