R function to obtain Kendall's tau p-value with covariates?

I have two variables and a third covariate adjustor. How can I get an adjusted Kendall tau estimate plus one p-value?

a <- c(1.07, 1.9, -0.603, -0.391, -0.416, -0.376, -0.367, -0.296, 1.44, -0.698) b <- c(1.13, 1.95, 0.37, 0.404, -0.385, 0.168, -0.349, 0.481, 2.2, -0.687)c <- c(3.75, 3.75, 3.74, 3.75, 3.75, 3.74, 3.74, 5.37, 8.18, 8.18)

I wish to get similar output to cor.test(a, b, method = "kendall") which has been adjusted for c.