Although it may be counterintuitive, bagless vacuum cleaners are actually more expensive to maintain in the long run.
Vacuum bags tend to last between two to three months between changes. Replacement costs vary, but on average you're looking at around $13 for three bags on the low end, or $30 for three on the high end. On average that is about $21 for the set, or $7 per bag. Assuming you're on top of things, and change the bag once every two months that should set you back around $42 for the year.
HEPA filters on the other hand need to be replaced every six months. Yes replaced, not washed. Many of them may say they can be washed, but studies have shown that washable HEPA filters simply don't match the performance of disposables. We wouldn't recommend them.
Assuming you want to take our (and many other people's) advice, you'll need to source replacement filters from the vacuum manufacturer. Prices vary, but Shark sells filters for between $29.99 - $37.99 depending on the vacuum model. Two of those per year and you're already over the cost of bags.