The bad opinions of Android come from people who used Samsung devices - Touchwiz, it must be said, is horrible.
Stock Android, HTC Sense or the UI used by Sony on the Xperia Z2/Z3, is very fast indeed. There is basically no lag at all (less than I recall on the iPhone 5S I used for a while).
The app selection in my view, is about the same nowadays.
The hardware selection is better - you'll find an Android phone that fits your selection. Not to say that the iPhone won't but Android will, I am 99% confident.
The thing about updates is true I suppose. I feel that it's getting better, with HTC pushing updates within three months of Google, Motorola doing it basically straight away. I guess it comes down to choice again as you can get a Nexus if you want instant updates.
Furthermore, Android is far more customisable. Something doesn't work the way you like it? Fix it - it's just that simple. Also rooting isn't too difficult and doesn't tend to get blocked unlike jailbreaking (although to be fair, rooting is often officially supported).
I prefer Android these days, over iOS because I feel that it works better and I find the app selection, at least for what I use, better. This is coming from an iPhone 3G to 5S user so I feel that I am at least slightly objective.
I hope that helps