I got this working before (I believe it was on a 15.10, I recently downgraded to the LTS 14.04).
According to this post the following should work
~ $ cat ~/.inputrc "\e[A":history-search-backward "\e[B":history-search-forward
But when I save that
.inputrc and open a new terminal, typing PageUp or PageDown just prints the tilde character
~ in the terminal, instead of doing the search.
Any help appreciated.