In this paper, we implement repetitive disturbance observer in a controller of unmanned aerial vehicles (UAVs). Thereby, we realize disturbance estimation with high precision and build a map of disturbance information. We also implement model predictive control (MPC) that considers the estimated disturbance by considering it in the model as prior disturbance information using the map. We consider the situation that the UAV follows the reference trajectory of circle. On this occasion, the UAV estimates the disturbance information on the flight path using time state control form. The UAV updates the disturbance map based on the previous map and flight information, and the disturbance is estimated with high precision. The UAV uses it as prior disturbance information when the UAV flies on the next laps. Therefore, the UAV achieves a good tracking performance. We confirm it by numerical simulation.