Yes you should just be able to switch the binaries and run against the same InnoDB files.
Percona Server only adds functionality within the server and doesn’t change the file format.
And since you are switching within the 5.5 branch you wouldn’t even have to run the mysql_upgrade script.
I would make sure to have a fresh backup first, but otherwise you should have no problems as Sterin said.
I’ve done this already in our own test environments, and have had no issues. It was as easy as removing the old binaries and installing the new ones. =)