For proper charging of lead-acid batteries a simple, two-stage technique is to start with a constant-current until the battery reaches a specific voltage, indicating it is near a full charge (≈90%), and then revert to a constant-voltage trickle-charge mode at a lower voltage to avoid over-charge while topping off and then maintaining the battery charge.
Below is the LTspice simulation of a relatively simple circuit to do that.
M1 and Q2 initially act as a constant-current circuit that...