when you heat metal, even with the smallest change of color, it will shrink after cooling. When you cool it fast by a wet rag or even compressed air, it will shrink even more. The shrinking is what causes the distortion.
now, when you make a weld ,you want good penetration and you need a certain amount of energy (heat) to get that done, so you WILL get distortion, no matter what kind of welding tech you use. The ONLY way to get rid of the distortion is to stretch the metal back to the surface area it had before welding.