[Help] Fully charged PS4 controller shut off and is now charging again?

I was playing Horizon Zero Dawn wireless with my headphones in the jack and the audio was starting to cut in and out and I was lagging so I checked the charge level and it had 3 bars then maybe 10 minutes later the controller started flashing and I lost control of my character and she kept running straight until the controller switched off completely.

This isn't the first time it's happened, is there any fix? Thanks!