Current limiter for fixed voltage output
If it suitable your needs, you may use H-bridge to power your load. Here's schematic sketch to give yu idea:







simulate this circuit &ndash; Schematic created using CircuitLab

Here's current limited voltage source (V, I, R1, Q1-Q4) which powers H-bridge of four MOSFETs, and load R2. (Supposed voltage drop across MOSFETS is negligible).

This current limited source consist of current mirror (as current limiter) with emitter follower (as voltage limiter), but you may use any other type you want.