It might work but it might not be worth the risk. The ratings on both the computer and the charger are nominal ratings and both has plus/minus tolerances.
The amperage rating is OK (3.5A vs 2.1A) because it states what the maximum allowable is. It doesn't mean that it always outputs that amperage. So a charger with a 3.5A rating can safely supply 2.1A. The opposite, however is not true. You can't charge a computer that will draw 3.5A with a charger only rated for 2.5A because the draw will be over the limit of the charger.
The voltage, however, is critical. The voltages usually have a plus/minus range of 10%. So the 19V computer might allow up to 20.9V if it will tolerate the overage. But if the 20V charger runs a voltage over its...