In order of easiest/cheapest to most expensive:
First off clean up your grounds from the battery that are attached to the body I'm under your hood and make sure where the amp is grounded to is clean and shiny metal and has a solid path to ground back to the battery.
Turn off bass boost or anything like that. If you headunit has a loudness setting, turn it off. Make sure your filters are set right. There should be a dial called "Subsonic filter" this needs to be set a few Hz below tuning frequency (example: tuning frequency is 36, a good subsonic setting would be 30hz), and your low pass filter should be 80-100hz. This will ensure that extra power is not being wasted on frequencies your subwoofer shouldn't be playing and will protect your sub from unloading and tearing itself apart below tuning frequency. After you've done this, play a 40hz test tone (frequency generator app on your phone is free) and set gains until lights dim.
Next try upgrading the stock wires. You can pick up a 4 gauge kit for like $40-50. No need to replace stock wires, just put the new kit over top of them. This will ensure your battery isn't dropping voltage from skinny wires. Bigger wires with fresh copper = less resistance = mow powah baby (to the amp)
Next, an AGM battery to replace the one under the hood. AGM batteries recharge and discharge much faster meaning that your battery will have an easier time taking a bass hit and will recharge faster for the next bass hit. Most parts stores sell them, but you will pay a premium for the convenience. Walmart has their brand of AGMs that people have had good luck with. You can also order a Deka AGM dual post from Rockauto for like $170 once you send the core in. This way you have lots of room to install wires. I have one in my truck for the past 2 1/2 years and it's held up great.