The Monk won't control anything.
The Fighter is a good controller, but an offensive one. You'll deal tons of damage to monsters who are moving in your area of effect, but you're not attracting blows more than that. So, if the monsters focus on your Rogue ally, you'll just look at them ripping him appart.
The Champion is your true controller. You just need Champion Reaction to push monsters to attack you instead of your comrades. Besides that, don't use a Tower Shield, it's hyper heavy and doesn't add anything above a normal shield.
I know your party already has a rogue, but I'd say that the rogue is really good for doing the kind of battlefield debuffing that you are talking about. If you go with a scoundrel or a Ruffian and proritize Charisma, Str and then Con, you can keep all of your relevant combat skills (deception, athletics, Intimidation) very high and get all the relevant skill feats much faster than any other martial class. The D8 HP makes tanking a little tough, but if you have STR and CHA, you can MC to Champion at Lvl 2 and be wearing heavy armor and still carrying a tower shield, leaving a your other hand open for wrestling (a spiked gauntlet still qualifies for sneak attack damage).
Rogue is a class with such a broad range of capabilities that a strong, intimidating tough guy rouge is not going to be stepping on a sneaky/stabby thiefy rouge.
Interesting, I actually never thought to do a Ruffian/Scoundrel Rogue! In the Ruffian's case, would it be worth it at all to use a weapon or should I stick mainly to the spiked gauntlet? For example, using the Human Ancestry feat Unconventional Weaponry to get an Martial weapon down to Simple proficiency and use it?
I'd talk to your GM about that before assuming it would work. The unconventional weaponry feat does specify that the weapon only qualifies as a simple weapon "for the purpose of determining your proficiency."
but the reason I suggested staying open handed was for the ability to grab enemies. If you cary a weapon and a shield, you lose out on that battlefield control option.
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Monk actually have a really cool way of control, use combat maneuvers, feats like flurry of maneuvers and mixed maneuver are great ways for you to Grapple + Trip, and they can't stand up without breaking your grapple and while prone they have -2 circumstance penalty to attack rolls.
I personally like to combine that strategy with Crane Stance and Crane Flutter, if they try to attack you while prone you have a big chance of avoiding the attack and counter it, if they get out of the grapple they will have MAP and again it will be easier to avoid the attack and counter.
All classes can do some battlefield control/tank if you build them for. Some will be better than others. None will be better than Champion.
So, if you look for the top battlefield controller, you look for a Champion and nothing else.
My vote goes to monk. I haven't played any of these martials, to be fair, but just from character building for fun Monk has a lot of cool tools. The coolest of which is whirling throw. There is no cooler controlling move as whirling throw. Plus you have stand still, which in some ways is better than attack of opportunity for controlling movement.
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A trip+stunning fist monk can accomplish the main goal of a tank (making an enemy focus on them) by nuking the enemy's action economy so it can't move to a different target and get off an attack in the same round. Either it wastes a turn only doing a single move, or it tries to attack the closest target (usually the monk).
As a note, wolf drag is nice, but not for the reason listed in the feat. A regular trip knocks enemies prone with only a single action, and you can trip+flurry as a 2 action combo for more damage and with extra debuff potential. Wolf drag only shines when you look for 3 action combos.
A successful Trip+Flurry+Strike with an agile style has a bonus of 0 (trip)/-2(strike)/-6(strike)/-6(strike) once you factor in flat footed. But a wolf drag+flurry has bonuses of 0(strike)/-2(strike)/-6(strike) because you remove the MAP from the trip.
So you still have a similar combo of three attacks and a prone enemy, but the numbers are nicer. Particularly since you get extra crit damage with your first hit with this style
It might be weird for a monk to go for this kind of "full attack" strategy... but you also nuke enemy action economy so they have trouble getting away from you. So wolf drag is for when you are in the second turn with an enemy, and trying to finish them off. Wolf style monks are good at focusing on an enemy and breaking them- which also conveniently stops the enemy from doing much else in a fight.
They are also good at kicking enemies when they are down (stand still reaction against standing up from prone)
Monk has crazy control capability, too much to even type up in this post.