$h$-adic quantum vertex algebras associated with rational $R$-matrix in types $B$, $C$ and $D$

We introduce the $h$-adic quantum vertex algebras associated with the rational $R$-matrix in types $B$, $C$ and $D$, thus generalizing the Etingof--Kazhdan's construction in type $A$. Next, we construct the algebraically independent generators of the center of the $h$-adic quantum vertex algebra in type $B$ at the critical level, as well as the families of central elements in types $C$ and $D$. Finally, as an application, we obtain commutative subalgebras of the dual Yangian and the families of central elements of the appropriately completed double Yangian at the critical level, in types $B$, $C$ and $D$.