Just create a new array which you make fast adressable by using the setid as key. And reindex the array at the end.
$result = array();
foreach ($array as $val) {
if (!isset($result[$val['setid']]))
$result[$val['setid']] = $val;
else
$result[$val['setid']]['income'] += $val['income'];
}
$result = array_values($result); // reindex array