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Creamos una subred swarm por ejemplo

# docker network create --subnet=172.19.0.0/16 swarm
b61fd20f8ea5d6c53e70f938b4e1ce44333ba0fd993a333c5fb9fefc6cd2d1f3

# docker network ls

NETWORK ID          NAME                DRIVER              SCOPE
ef49af878942        bridge              bridge              local
3016c3471d38        host                host                local
e72a3fcddff2        none                null                local
b61fd20f8ea5        swarm               bridge              local
15c7084e1eea        weblogicnet         bridge              local

Miramos el detalle de la red:

# docker inspect swarm

[
    {
        "Name": "swarm",
        "Id": "b61fd20f8ea5d6c53e70f938b4e1ce44333ba0fd993a333c5fb9fefc6cd2d1f3",
        "Created": "2017-02-13T18:10:44.25361846+01:00",
        "Scope": "local",
        "Driver": "bridge",
        "EnableIPv6": false,
        "IPAM": {
            "Driver": "default",
            "Options": {},
            "Config": [
                {
                    "Subnet": "172.19.0.0/16"
                }
            ]
        },
        "Internal": false,
        "Attachable": false,
        "Containers": {},
        "Options": {},
        "Labels": {}
    }
]

Ahora ejecutamos cada máquina con una ip:

# docker run --name swarm-nodo1 --privileged --net swarm --ip 172.19.0.101 --hostname swarm1 --add-host=swarm1:172.19.0.101 --add-host=swarm2:172.19.0.102 --add-host=swarm3:172.19.0.103 -ti swarm

# docker run --name swarm-nodo2 --privileged --net swarm --ip 172.19.0.102 --hostname swarm2 --add-host=swarm1:172.19.0.101 --add-host=swarm2:172.19.0.102 --add-host=swarm3:172.19.0.103 -ti swarm

# docker run --name swarm-nodo3 --privileged --net swarm --ip 172.19.0.103 --hostname swarm3 --add-host=swarm1:172.19.0.101 --add-host=swarm2:172.19.0.102 --add-host=swarm3:172.19.0.103 -ti swarm

Creamos swarm en el primer nodo

# docker swarm init --advertise-addr 172.19.0.101

Swarm initialized: current node (obtavwk9ypnpq20ubd54gt7me) is now a manager.

To add a worker to this swarm, run the following command:

    docker swarm join \
    --token SWMTKN-1-5wvvfc5qpmk4avbqzv0iw1st0qxtwb15ut0phwyjgmv2iw65t7-akxww3rmtsimaihqokcgmwu7a \
    172.19.0.101:2377

To add a manager to this swarm, run 'docker swarm join-token manager' and follow the instructions.

Si hacemos docker info, vemos swarm:

# docker info

.........
Swarm: active
 NodeID: obtavwk9ypnpq20ubd54gt7me
 Is Manager: true
 ClusterID: tbzs05pa17b5vkseyzzmc2sew
 Managers: 1
 Nodes: 1
.........