create a file .inputrc
in your home directory and put there
"\e[A": history-search-backward
"\e[B": history-search-forward
set show-all-if-ambiguous on
set completion-ignore-case on
# display possible completions using different colors to indicate their file types
set colored-stats On
TAB: menu-complete
Restart your terminal. Now you can autocomplete from history using Up and Down keys.