Paste (Ctrl-Shift-V) the following into a terminal screen:

echo '"\e[A": history-search-backward' > ~/.inputrc
echo '"\e[B": history-search-forward' >> ~/.inputrc
echo 'set show-all-if-ambiguous on' >> ~/.inputrc
echo 'set completion-ignore-case on' >> ~/.inputrc
Exit (Ctrl-D) the terminal screen, then open Terminal again.

Now you can just type the first couple of characters, then press Up or Down to scroll through the filtered list