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Lead acid batteries use Constant voltage charging. A lot simpler than NiCD and NiMH, so they not as fussy as those.
All you need correct voltage to charge, There are plenty of low cost chargers available usually quite good. There are so more intelligent chargers out there that could be used if less monitoring is required.
The batteries themselve have internal resistance to limit charginging current but if the charging voltage is increased to high the heat will rise proportionally.
Deep Discharge/Cycle though require a slightly different charging system. If the battery is really flat, it requires a slightly higher voltage to get it out of deep discharge. Then the voltage is reduce to normal when it charge is in normal operations. This is how is was when I was using DD batteries but technology has changed a lot since I used them so maybe they fixed this.
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