Needs Athletics since you need Second Wind.
1. Queue summon invocation, wait for the "shouting" animation.
2. Pause. Use Second Wind. Unpause.
3. Wait for the animation. Pause. Queue invocation again.
4. Repeat 2 and 3 as necessary.
Caveats: With the phantoms example I showed, I was only able to control 3 of them but the others still attacked when attacked or if you have Agressive as your behavior.