Assuming you use 40W for an hour, you need 40WH put into the battery every day. With all the inefficiencies, you probably need 60WH produced by the panels. If you leave it on charge, to produce this in 3-4 hours, you'll need 20W of panels. You need much more if you want to get something on a cloudy day.
When battery is discharged it can take a lot of current, so you can just connect the panel directly to the battery. But when it gets charged it cannot take much. At this point it would be nice to limit voltage to 14.5-15V (14-14.5 if you have AGM). If it goes much higher than this, it'll boil out the electrolyte. You can manually disconnect at this point (the battery won't get fully charged, but you can top it up when you're back home), or you can get a charge controller that limits voltage automatically. There are plenty of cheap ones on e-bay.