Dualising Complexes and Twisted Hochschild (co)homology for Noetherian Hopf Algebras

We show that many noetherian Hopf algebras A have a rigid dualising complex R with R = A[d]. Here, d is the injective dimension of the algebra and ν is a certain k-algebra automorphism of A, unique up to an inner automorphism. In honour of the finite dimensional theory which is hereby generalised we call ν the Nakayama automorphism of A. We prove that ν = Sξ, where S is the antipode of A and ξ is the left winding automorphism of A determined by the left integral of A. The Hochschild homology and cohomology groups with coefficients in a suitably twisted free bimodule are shown to be non-zero in the top dimension d, when A is an Artin-Schelter regular noetherian Hopf algebra of global dimension d. (Twisted) Poincaré duality holds in this setting, as is deduced from a theorem of Van den Bergh. Calculating ν for A using also the opposite coalgebra structure, we determine a formula for S generalising a 1976 formula of Radford for A finite dimensional. Applications of the results to the cases where A is PI, an enveloping algebra, a quantum group, a quantised function algebra and a group algebra are outlined.