I want my site to use URLs like http://192.0.2.2/...
and https://192.0.2.2/...
for static content to avoid unnecessary cookies in request AND avoid additional DNS request.
Is there any way to obtain SSL cert for this purpose?
According to this answer, it is possible, but rarely used.
As for how to get it: I would tend to simply try and order one with the provider of your choice, and enter the IP address instead of a domain during the ordering process.
However, running a site on an IP address to avoid the DNS lookup sounds awfully like unnecessary micro-optimization to me. You will save a few milliseconds at best, and that is per visit, as DNS results are cached on multiple levels.
I don't think your idea makes sense from an optimization viewpoint.