Not unless you have a very big tank (100+ gallons) and even then it is iffy. They may get along for a while when they are juveniles, but when they grow up they will fight.
You can however keep one true perc and one false perc in the same tank. Or a onyx perc and a "normal" perc (just color variations of the same species)
I have also heard of a clarkii and a perc being kept in the same tank without problems (second hand report and I don't know the long term outcome). This may be feasable because they look a bit different from one another.