要在另一台服务器上执行命令，首先需要连接到该服务器。例如，可以通过SSH连接到远程计算机并在那里执行命令。为此，可以使用类似SSH Step的命令。

def remote = [:]
    remote.name = 'test'
    remote.host = 'test.domain.com'
    remote.user = 'root'
    remote.password = 'password'
    remote.allowAnyHosts = true
    stage('Remote SSH') {
      sshCommand remote: remote, command: "docker-compose up -d"
    }

另一种方法是将远程服务器添加为Jenkins代理，然后在远程代理上执行命令。为此，您可以更改代理指令pipeline { agent {label: "server2" ......

pipeline {
    agent any
    stages{
    stage('Update_docker'){
                step{
                    def remote = [:]
                    remote.name = 'server2'
                    remote.host = '172.16.x.x:9001'
                    remote.user = 'ci'
                    remote.password = 'xxxxxxx'
                    remote.allowAnyHosts = true
                    stage('Remote SSH') {
                    sshCommand remote: remote, command: "docker-compose up -d"
                     }
                    }
        }
    }