I admit amplifier design is not my specialty...
Non-regulated power supplies will allow the rail voltages to increase or decrease as the battery voltage is increased or decreased...
Regulated power supplies will hold the rail voltages constant when the battery voltage changes...
I was going to write a big thing here but Manville Smith of JL Audio wrote a sweet post over at DIYMA about ten years ago.
How does RIPS (JL Audio) work? post #21
Please read Manville's post, it is really well written and it goes into a lot of really good detail.
In short, the output stage is usually made up of transistors that can supply the speaker with voltage up to the rail voltage limits that the power supply has. The speaker will present an impedance (or a load) and then current will flow.