Hopf images and inner faithful representations

We develop a general theory of Hopf image of a Hopf algebra representation, with the associated concept of inner faithful representation, modelled on the notion of faithful representation of a discrete group. We study several examples, including group algebras, enveloping algebras of Lie algebras, pointed Hopf algebras, function algebras, twistings and cotwistings, and we present a Tannaka duality formulation of the notion of Hopf image.