Below is my build script (not using xcodebuild plugin).
That's a code signing error, the xcodebuild command can't access your certificate's private key since it's running through Jenkins' slave with SSH.
Run this line in your shell script before you run the xcodebuild in order to allow access:
security set-key-partition-list -S apple-tool:,apple: -s -k /Users//Library/Keychains/login.keychain-db
Hope that helps!