  Perching on {the surface} of moving objects, like vehicles, could extend the
flight {time} and range of quadrotors. Suction cups are usually adopted for
{surface attachment} due to their durability and large adhesive force. To seal
on {a surfaces}, suction cups {must} be aligned with {the surface} and {possess
proper relative tangential velocity}. {However, quadrotors' attitude and
relative velocity errors would become significant when the object surface is
moving and inclined. To address this problem, we proposed a real-time
trajectory planning algorithm. The time-optimal aggressive trajectory is
efficiently generated through multimodal search in a dynamic time-domain. The
velocity errors relative to the moving surface are alleviated.} To further
adapt to the residual errors, we design a compliant gripper using self-sealing
cups. Multiple cups in different directions are integrated into a wheel-like
mechanism to increase the tolerance to attitude errors. The wheel mechanism
also eliminates the requirement of matching the attitude and tangential
velocity. {Extensive tests are conducted to perch on static and moving surfaces
at various inclinations.} Results demonstrate that our proposed system enables
a quadrotor to reliably perch on moving inclined surfaces (up to $1.07m/s$ and
$90^\circ$) with a success rate of $70\%$ or higher. {The efficacy of the
trajectory planner is also validated. Our gripper has larger adaptability to
attitude errors and tangential velocities than conventional suction cup
grippers.} The success rate increases by 45\% in dynamic perches.
