Such two triangles are called orthologic triangles.
We claim that the perpendiculars from $ABC$ to $PQR$ concur iff $$MA\cdot QR+MB\cdot RP+MC\cdot PQ=0$$
for every point $M$ in the plane (where each $XY$ denotes the vector $\vec{XY}$).
First, notice that $f(M)=MA\cdot QR+MB\cdot RP+MC\cdot PQ=0$ is constant with respect to $M$, as
$$f(M)-f(N)=MN\cdot (QR+RP+PQ)=MN\cdot 0=0$$
Now, if we take $M$ to be the intersection of the perpendiculars from $A$ to $QR$ and $B$ to $RP$, we get that $MA\cdot QR+MB\cdot RP=0$. Then
$$f(M)=MC\cdot PQ=0$$ iff $MC$ is perpendicular to $PQ$, or equivalently if the three perpendiculars concur at $M$.
Now, it is not hard to see that the vector condition is symmetric with respect to switching $ABC$ and $PQR$. Indeed, if we take $M$ to be the origin,
$$
MA\cdot QR+MB\cdot RP+MC\cdot PQ=0
$$
$$
\Leftrightarrow A\cdot Q-A\cdot R+B\cdot R-B\cdot P+C\cdot P-C\cdot Q=0
$$
$$
\Leftrightarrow MP\cdot BC+MQ\cdot CA+MR\cdot AB=0
$$
So the two concurrences are equivalent.