It is possible but you have to modify code.
Create a child theme and add the following to the child theme’s functions.php file:
twentyfifteen-child/functions.php
add_action( 'after_setup_theme', 'register_my_menu' );
function register_my_menu() {
register_nav_menu( 'top-header-menu', 'Top Header Menu' );
}
Copy the header.php file from twentyfifteen/ to twentyfifteen-child/
Edit the copied file and add the following to its end
<?php wp_nav_menu( array( 'theme_location' => 'top-header-menu' ) ); ?>
Activate this child theme from WP-Admin > Appearance > Themes.
Go to WP-Admin > Appearance > Menus > Manage Locations tab and assign a menu to the Top Header Menu location.
At this point the menu will look messed up, post your URL and I’ll provide the necessary code to align it.