It seems that it's an old bug: 
It happened in 16.04, see: 
https://askubuntu.com/questions/915904/audio-glitches-every-2-10-minutes-ubuntu-16-04
and 18.04, see: 
https://askubuntu.com/questions/1044552/audio-stuttering-in-ubuntu-18-04
It turned out that there is a bug in kernel which causes audio stutter if a 
wifi enabled yet not connected to any wifi network.
So I disabled my internal unused wifi card (like in this refrence: 
https://askubuntu.com/questions/168032/how-to-disable-built-in-wifi-and-use-only-usb-wifi-card),
 and so far everything works fine.

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https://bugs.launchpad.net/bugs/1805077

Title:
  [ASUS X555YI] the audio pause and repeat for a very short of time
  randomly

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