Hello,
Thank you for your post.
From the error, I can see that you have used the IP address of the vcenter server and PSC instead of FQDN. Usually, the certificates are created based on FQDN and not the IP address ( I am not sure in your case). Is it possible for you to replace the IP address with FQDN and then try the registration again? If it fails again, shall we get on a web-ex session so that we can also check the collector appliance logs as to why the registration is failing?