I prefer Sharp brand upright vacuums. They work great on dog hair, easy to change bags, and for the most part easy to change belts. I have been selling Sharp and Panasonic Uprights for the past 10 years and have had very few problems. They have a clean air or bypass system. Also attachments are easy to use and there are models that can be used to clean bare floors and cars.
Many central vacuums have self cleaning filters, and can be exhausted outside.
Thus no dust is released indoors. It is much better the Hepa or any other filter system. The Central vacuum also will have a more powerful motor than the other vacuums. Central vacuums are a long term investment in your home. Every 10 years or so you may have to replace the carbon brushes in the motor, but that is about it for continuing costs.