I experienced this last week.
The I had forgotten that I had left LTE on my phone in the office (which has poor reception). It drained my battery, so I had plugged the phone in to charge it (using OEM lighting/charger).
The phone eventually got really warm (a little warmer than usual, but nothing out of the ordinary), and I wanted to use my phone again. For the next two/three hours, the phone remained extremely warm to the touch, and would consistently stutter, lag, and eventually reboot. I would use something simply like Safari or Alien Blue, and out of nowhere would the white screen come on with the black Apple logo. However, it was not a complete restart since it did not force me to use my passcode. Touch ID was good enough.
I got a bit concerned with the temperature of the phone, so I had it zip locked and air sealed, and left it in the fridge for a few moments for it to cool down. I did a hard reset and it turned out fine since.
This problem hasn't happened since.