I know that you can use the "prid XXXXXX" console command to select NPCs and then "moveto player" in order to bring them back. If they are disabled I think you can "enable" them. The problem is that I don't know the code for the animal follower (which you would use instead of the previous XXXXXX)!
Is there any way to determine the code for your animal follower?

, i didn't have a single clue... do they count against the normal companion limit or can you have one humanoid/one animal companion? And can blacksmith custom make plate armor for my future doggie 
... GL with your glitch, hopefully you find a fix soon