[Feature Request] Zsh-style Prefix Matching for Command History Navigation

Question

**Bug Description**
I would love if the scrollback (up-arrow key) history completion would use prefix matching like zsh. For example, given the command history:
```
$ echo first
$ echo second
$ cat third
```

See the following cases: each is a prefix of the current chars typed into the command line, then the `<UP>` key is pressed, then the expected history completion:
- `$ ` (none) -> `$ cat third` (most recent)
- `$ echo ` -> `$ echo second` (most recent prefix match)
- `$ echo f` -> `$ echo fi