To avoid being repetitive, the symbol $\sum$ will denote a cyclic sum.
Observe that
$$
S(a,b,c) = \sum \sqrt{4a+1} = 3 + \sum \left(\sqrt{4a+1} - 1 \right)\,.
$$
The reason we are interested in substracting $1$ is because
$$
\sqrt{4a+1} - 1 = \frac{4a }{\sqrt{4a+1} + 1 }\,,
$$
and here the function $f(x) = \frac{4}{\sqrt{4x+1} + 1 }$ is convex (in preparation for
Jensen's inequality), unlike $x\mapsto \sqrt{4x+1}$ (hence the transformation).
Important. Now our target inequality $S(a,b,c)\geq \sqrt{5}+2$ reads $ \sum a f(a) \geq \sqrt{5} -1$.
Since we know $f$ to be convex and $\sum a = 1$,
Jensen's inequality now applies and we deduce
$$
\sum a f(a) \geq f(\sum a^2)\,.
$$
Here $\sum a^2$ is not a constant, but $f$ is strictly decreasing. Observe then that $a\geq a^2$ (similarly for $b$ and $c$) because $a,b,c\geq 0$ and $\sum a = 1$ imply $a,b,c\in [0,1]$. Therefore $1\geq \sum a \geq \sum a^2$ $(*)$, hence we get
$$
\sum a f(a) \geq f(\sum a^2) \geq f(1) = \frac{4}{\sqrt{5}+1} = \sqrt{5}-1\,,
$$
as desired.
$(*)$ equality here can hold if and only if $\{a,b,c\} = \{0,1\}$, meaning that one variable equals $1$ and the rest $0$.