At least Android devices give you the option to upgrade. I've been forced into iOS upgrades on devices we use in the enterprise that have been made obsolete because of new bloat we didn't need (nor can we downgrade).
Other than nexus phones, all android phones are at the mercy of the carrier and manufacturer. None of them get updated on the day a new version of android comes out, most experience long delays, and many see no major version bump.
When iOS 7 comes out next week there is no doubt I will be able to install it on my iPhone.
I own a nexus 4 and can not think of a single thing which i would switch to an iPhone 5 for. The only thing it is lacking is LTE support, which ill be happy without until my next phone.
side by side, they are very similar - http://www.gsmarena.com/compare.php3?idPhone1=5048&idPhone2=...
But the amazing thing is, the Nexus 4 (16GB) is now less than half the price of the iphone 5c (16GB). I cant justify ever looking at it compared to what i already have.