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Setup the DJ role

You can restrict some commands to only some users that have a specific role. By default to manage a queue an user needs the Manage Messages discord permission. You can remove this by setting as a dj role a role that this user has or giving him the permissions

Setup a dj role

The command is: /setdj @role
You can custom which commands can DJs use via the /djcommands command

Transfering the DJ of a queue

The DJ of a queue is the user that made the command that made the bot joining the voice channel. He bypasses all checks for DJs commands
You can transfer a queue DJ with /givedj @user