Use WSFederationAuthenticationModule. Add below module to web.config
<modules><add name="WsFederationAuthenticationModule" type="System.IdentityModel.Services.WSFederationAuthenticationModule, System.IdentityModel.Services, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"/></modules>
Use following approach. Take it as an example.
WSFederationAuthenticationModule fam = FederatedAuthentication.WSFederationAuthenticationModule;
fam.FederatedSignOut(STSSignOutAbsoluteURL,RPReturnURL);