Hyperius’s minions do not heal him, but all of them must be damaged and in their repair state. He also does not have a life steal. He does however have his enrage (we’ll get to that).
The Bee adds quite a bit of damage, but with a Legendary Cat COM (or Cat COM in general), Maya can deal a lot of damage with a Sandhawk regardless.
Since you play as Maya, maybe you should focus on taking all but one of the minions out, then damage the final one into a repair state, then unload on Hyperius. It gets much more dangerous when he starts jumping around though, just a heads up.
You will need constant ways to heal (usually by swapping to Grog and either firing a weapon or chucking a grenade, and this applies to the whole fight, not just the enrage), but you can still take him out with that Sandhawk. Just be sure to have a fire one for him and a corrosive one for the minions.
Also, it in a sense is easier to fight him with multiple people as he automatically sets the game to “4 player mode”, meaning he has the same health solo as he does with four people.